From 05a48928f83b4b8a59e94fe1db093c0cd9438577 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Aug 2019 17:09:21 +1000
Subject: [PATCH] Tools: autotest: assume Tracker has AP_Stats

---
 Tools/autotest/antennatracker.py | 28 ----------------------------
 Tools/autotest/common.py         | 15 +++++++++++++++
 2 files changed, 15 insertions(+), 28 deletions(-)

diff --git a/Tools/autotest/antennatracker.py b/Tools/autotest/antennatracker.py
index 3bce2c68d0..05a3393944 100644
--- a/Tools/autotest/antennatracker.py
+++ b/Tools/autotest/antennatracker.py
@@ -25,22 +25,6 @@ class AutoTestTracker(AutoTest):
     def sitl_start_location(self):
         return SITL_START_LOCATION
 
-    def start_stream_systemtime(self):
-        '''AntennaTracker doesn't stream this by default but we need it for get_sim_time'''
-        try:
-            self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SYSTEM_TIME, 10)
-        except Exception:
-            pass
-        self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SYSTEM_TIME, 10)
-
-    def set_rc_default(self):
-        '''tracker does not send RC_CHANNELS, so can't set_rc_default'''
-        '''... however, dodgily hook in here to get system time:'''
-        self.start_stream_systemtime()
-
-    def initialise_after_reboot_sitl(self):
-        self.start_stream_systemtime()
-
     def default_mode(self):
         return "AUTO"
 
@@ -57,18 +41,6 @@ class AutoTestTracker(AutoTest):
     def sysid_thismav(self):
         return 2
 
-    def reboot_sitl(self):
-        """Reboot SITL instance and wait it to reconnect."""
-        self.wait_heartbeat()
-        if self.armed():
-            self.disarm_vehicle()
-        self.mavproxy.send("reboot\n")
-        self.mavproxy.expect("Init AntennaTracker")
-        # empty mav to avoid getting old timestamps:
-        while self.mav.recv_match(blocking=False):
-            pass
-        self.initialise_after_reboot_sitl()
-
     def disabled_tests(self):
         return {
             "ArmFeatures": "See https://github.com/ArduPilot/ardupilot/issues/10652",
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index a8866bc25c..72726af1e6 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -339,6 +339,7 @@ class AutoTest(ABC):
 
     def reboot_sitl(self, required_bootcount=None):
         """Reboot SITL instance and wait for it to reconnect."""
+        self.progress("Rebooting SITL")
         self.reboot_sitl_mav(required_bootcount=required_bootcount)
         self.assert_simstate_location_is_at_startup_location()
 
@@ -2374,6 +2375,9 @@ class AutoTest(ABC):
         if self.distance_to_home() > 1:
             raise NotAchievedException("Setting home to current location did not work")
 
+        if self.is_tracker():
+            # tracker starts armed...
+            self.disarm_vehicle(force=True)
         self.reboot_sitl()
 
     def test_dataflash_over_mavlink(self):
@@ -2806,6 +2810,12 @@ class AutoTest(ABC):
         try:
             self.set_parameter("STAT_BOOTCNT", 0)
             self.set_parameter("SIM_BARO_COUNT", 0)
+
+            if self.is_tracker():
+                # starts armed...
+                self.progress("Disarming tracker")
+                self.disarm_vehicle(force=True)
+
             self.reboot_sitl(required_bootcount=1);
             self.progress("Waiting for 'Check BRD_TYPE'")
             self.mavproxy.expect("Check BRD_TYPE");
@@ -2817,6 +2827,11 @@ class AutoTest(ABC):
         self.progress("Resetting SIM_BARO_COUNT")
         self.set_parameter("SIM_BARO_COUNT", old_sim_baro_count)
 
+        if self.is_tracker():
+            # starts armed...
+            self.progress("Disarming tracker")
+            self.disarm_vehicle(force=True)
+
         self.progress("Calling reboot-sitl ")
         self.reboot_sitl(required_bootcount=2);