Tools: autotest: improve test reliability

Also remove redundant reset code

Tools: autotest: drain mav and all pexexpects before running each test

Tools: autotest: increase some timeouts for failures when running under GDB

Tools: autotest: correct ordering of operations in mount test

Tools/autotest/apmrover2.py

@@ -715,6 +715,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.progress("chan3=%f want=%f" % (m.chan3_raw, normal_rc_throttle))
             if m.chan3_raw == normal_rc_throttle:
                 break
+        self.disarm_vehicle()
 
     def test_rc_overrides(self):
         self.context_push()

Tools/autotest/arducopter.py

@@ -535,10 +535,6 @@ class AutoTestCopter(AutoTest):
         # wait for LAND mode. If unsuccessful an exception will be raised
         self.wait_mode('LAND', timeout=timeout)
 
-        # disable battery failsafe
-        self.set_parameter('BATT_FS_LOW_ACT', 0)
-        self.set_parameter('SIM_BATT_VOLTAGE', 13)
-
         self.progress("Successfully entered LAND after battery failsafe")
         self.reboot_sitl()
 
@@ -719,20 +715,9 @@ class AutoTestCopter(AutoTest):
                 self.progress("Waiting for disarm")
                 self.mav.motors_disarmed_wait()
                 self.progress("Reached home OK")
-                self.change_mode("STABILIZE")
                 self.zero_throttle()
-                # remove if we ever clear battery failsafe flag on disarm:
-                self.mavproxy.send('arm uncheck all\n')
-                self.arm_vehicle()
-                # remove if we ever clear battery failsafe flag on disarm:
-                self.mavproxy.send('arm check all\n')
-                self.progress("Reached home OK")
                 return
 
-        # disable fence, enable avoidance
-        self.set_parameter("FENCE_ENABLE", 0)
-        self.set_parameter("AVOID_ENABLE", 1)
-
         # give we're testing RTL, doing one here probably doesn't make sense
         home_distance = self.distance_to_home(use_cached_home=True)
         raise AutoTestTimeoutException(
@@ -775,14 +760,6 @@ class AutoTestCopter(AutoTest):
 
         self.zero_throttle()
 
-        self.mavproxy.send('switch 6\n')  # stabilize mode
-        self.wait_mode('STABILIZE')
-        # remove if we ever clear battery failsafe flag on disarm
-        self.mavproxy.send('arm uncheck all\n')
-        self.arm_vehicle()
-        # remove if we ever clear battery failsafe flag on disarm:
-        self.mavproxy.send('arm check all\n')
-
     def fly_gps_glitch_loiter_test(self, timeout=30, max_distance=20):
         """fly_gps_glitch_loiter_test. Fly south east in loiter and test
         reaction to gps glitch."""
@@ -887,7 +864,8 @@ class AutoTestCopter(AutoTest):
         self.progress("GPS glitch test passed!"
                       "  stayed within %u meters for %u seconds" %
                       (max_distance, timeout))
-        self.do_RTL()
+        # re-arming is problematic because the GPS is glitching!
+        self.reboot_sitl()
 
     # fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch
     def fly_gps_glitch_auto_test(self, timeout=120):
@@ -993,6 +971,8 @@ class AutoTestCopter(AutoTest):
             self.show_gps_and_sim_positions(False)
 
         self.progress("GPS Glitch test Auto completed: passed!")
+        # re-arming is problematic because the GPS is glitching!
+        self.reboot_sitl()
 
     #   fly_simple - assumes the simple bearing is initialised to be
     #   directly north flies a box with 100m west, 15 seconds north,
@@ -1039,9 +1019,6 @@ class AutoTestCopter(AutoTest):
             self.mav.recv_match(type='VFR_HUD', blocking=True)
         self.set_rc(2, 1500)
 
-        # restore to default
-        self.set_parameter("SIMPLE", 0)
-
         # hover in place
         self.hover()
 
@@ -1499,7 +1476,7 @@ class AutoTestCopter(AutoTest):
                 if gpi.lat != 0:
                     break
 
-                if self.get_sim_time_cached() - tstart > 10:
+                if self.get_sim_time_cached() - tstart > 20:
                     raise AutoTestTimeoutException("Did not get non-zero lat")
 
             self.takeoff()
@@ -2258,7 +2235,7 @@ class AutoTestCopter(AutoTest):
             delta_ef = pos - dest
             dist = math.sqrt(delta_ef.x * delta_ef.x + delta_ef.y * delta_ef.y)
             self.progress("dist=%f" % (dist,))
-            if dist < 0.1:
+            if dist < 1:
                 break
             delta_bf = self.earth_to_body(delta_ef)
             angle_x = math.atan2(delta_bf.x, delta_bf.z)
@@ -2422,7 +2399,7 @@ class AutoTestCopter(AutoTest):
         self.run_cmd_do_set_mode("ACRO")
         self.mav.motors_disarmed_wait()
 
-    def test_mount_pitch(self, despitch, despitch_tolerance, timeout=5):
+    def test_mount_pitch(self, despitch, despitch_tolerance, timeout=10):
         tstart = self.get_sim_time()
         while True:
             if self.get_sim_time_cached() - tstart > timeout:
@@ -2512,7 +2489,6 @@ class AutoTestCopter(AutoTest):
                 raise NotAchievedException("Mount stabilising when not requested")
 
             self.progress("Enable pitch stabilization using MOUNT_CONFIGURE")
-            self.do_pitch(despitch)
             self.mav.mav.mount_configure_send(
                 1, # target system
                 1, # target component
@@ -2521,6 +2497,7 @@ class AutoTestCopter(AutoTest):
                 1, # stab-pitch
                 0)
 
+            self.do_pitch(despitch)
             self.test_mount_pitch(-despitch, 1)
 
             self.progress("Disable pitch using MAV_CMD_DO_MOUNT_CONFIGURE")

Tools/autotest/common.py

@@ -371,12 +371,15 @@ class AutoTest(ABC):
         global expect_list
         expect_list.extend(list_to_add)
 
-    def idle_hook(self, mav):
+    def drain_all_pexpects(self):
-        """Called when waiting for a mavlink message."""
         global expect_list
         for p in expect_list:
             util.pexpect_drain(p)
 
+    def idle_hook(self, mav):
+        """Called when waiting for a mavlink message."""
+        self.drain_all_pexpects()
+
     def message_hook(self, mav, msg):
         """Called as each mavlink msg is received."""
         self.idle_hook(mav)
@@ -1650,8 +1653,10 @@ class AutoTest(ABC):
         self.mav.idle_hooks.append(self.idle_hook)
 
     def check_sitl_reset(self):
+        self.wait_heartbeat()
         if self.armed():
             self.forced_post_test_sitl_reboots += 1
+            self.progress("Force-resetting SITL")
             self.reboot_sitl() # that'll learn it
 
     def show_test_timings_key_sorter(self, t):
@@ -1684,6 +1689,9 @@ class AutoTest(ABC):
         try:
             self.check_rc_defaults()
             self.change_mode(self.default_mode())
+            self.drain_mav()
+            self.drain_all_pexpects()
+
             test_function()
         except Exception as e:
             self.test_timings[desc] = time.time() - start_time
@@ -1735,7 +1743,7 @@ class AutoTest(ABC):
         old = self.mav.messages.get("HOME_POSITION", None)
         tstart = self.get_sim_time()
         while True:
-            if self.get_sim_time() - tstart > 30:
+            if self.get_sim_time_cached() - tstart > 30:
                 raise NotAchievedException("Failed to poll home position")
             if not quiet:
                 self.progress("Sending MAV_CMD_GET_HOME_POSITION")