autotest: add a poll_message method

Tools/autotest/arducopter.py

@@ -269,6 +269,13 @@ class AutoTestCopter(AutoTest):
         self.set_rc(2, 1500)
         self.do_RTL()
 
+    def fly_to_origin(self, final_alt=10):
+        origin = self.poll_message("GPS_GLOBAL_ORIGIN")
+        self.change_mode("GUIDED")
+        self.guided_move_global_relative_alt(origin.latitude,
+                                             origin.longitude,
+                                             final_alt)
+
     def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
         """Change altitude."""
         def adjust_altitude(current_alt, target_alt, accuracy):

Tools/autotest/common.py

@@ -5960,15 +5960,15 @@ Also, ignores heartbeats not from our target system'''
         if ex is not None:
             raise ex
 
-    def test_request_message(self, timeout=60):
+    def poll_message(self, message_id, timeout=10):
-        rate = round(self.get_message_rate("CAMERA_FEEDBACK", 10))
+        if type(message_id) == str:
-        if rate != 0:
+            message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
-            raise PreconditionFailedException("Receving camera feedback")
         # temporarily use a constant in place of
         # mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE until we have a
         # pymavlink release:
-        self.run_cmd(512,
+        tstart = self.get_sim_time()
-                     180,
+        self.run_cmd(mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
+                     message_id,
                      0,
                      0,
                      0,
@@ -5976,7 +5976,22 @@ Also, ignores heartbeats not from our target system'''
                      0,
                      0,
                      timeout=timeout)
-        m = self.mav.recv_match(type='CAMERA_FEEDBACK', blocking=True, timeout=1)
+        while True:
+            if self.get_sim_time_cached() - tstart > timeout:
+                raise NotAchievedException("Did not receive polled message")
+            m = self.mav.recv_match(blocking=True,
+                                    timeout=0.1)
+            if m is None:
+                continue
+            if m.id != message_id:
+                continue
+            return m
+
+    def test_request_message(self, timeout=60):
+        rate = round(self.get_message_rate("CAMERA_FEEDBACK", 10))
+        if rate != 0:
+            raise PreconditionFailedException("Receving camera feedback")
+        m = self.poll_message("CAMERA_FEEDBACK")
         if m is None:
             raise NotAchievedException("Requested CAMERA_FEEDBACK did not arrive")