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Tools: autotest: facilitate changing mode by number

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Peter Barker 2019-04-18 09:52:59 +10:00 committed by Randy Mackay
parent 07747c5c09
commit 2cb69366c8
1 changed files with 7 additions and 8 deletions
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13
Tools/autotest/common.py
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@ -1206,8 +1206,7 @@ class AutoTest(ABC):
self.progress("Changing mode to %s" % mode) self.progress("Changing mode to %s" % mode)
self.mavproxy.send('mode %s\n' % mode) self.mavproxy.send('mode %s\n' % mode)
tstart = self.get_sim_time() tstart = self.get_sim_time()
self.wait_heartbeat() while not self.mode_is(mode):
while self.mav.flightmode != mode:
custom_num = self.mav.messages['HEARTBEAT'].custom_mode custom_num = self.mav.messages['HEARTBEAT'].custom_mode
self.progress("mav.flightmode=%s Want=%s custom=%u" % ( self.progress("mav.flightmode=%s Want=%s custom=%u" % (
self.mav.flightmode, mode, custom_num)) self.mav.flightmode, mode, custom_num))
@ -1215,9 +1214,6 @@ class AutoTest(ABC):
self.get_sim_time_cached() > tstart + timeout): self.get_sim_time_cached() > tstart + timeout):
raise WaitModeTimeout("Did not change mode") raise WaitModeTimeout("Did not change mode")
self.mavproxy.send('mode %s\n' % mode) self.mavproxy.send('mode %s\n' % mode)
self.wait_heartbeat()
# self.progress("heartbeat mode %s Want: %s" % (
# self.mav.flightmode, mode))
self.progress("Got mode %s" % mode) self.progress("Got mode %s" % mode)
def do_get_autopilot_capabilities(self): def do_get_autopilot_capabilities(self):
@ -1632,7 +1628,12 @@ class AutoTest(ABC):
def mode_is(self, mode, cached=False): def mode_is(self, mode, cached=False):
if not cached: if not cached:
self.wait_heartbeat() self.wait_heartbeat()
try:
return self.get_mode_from_mode_mapping(self.mav.flightmode) == self.get_mode_from_mode_mapping(mode) return self.get_mode_from_mode_mapping(self.mav.flightmode) == self.get_mode_from_mode_mapping(mode)
except Exception as e:
pass
# assume this is a number....
return self.mav.messages['HEARTBEAT'].custom_mode == mode
def wait_mode(self, mode, timeout=60): def wait_mode(self, mode, timeout=60):
"""Wait for mode to change.""" """Wait for mode to change."""
@ -1645,8 +1646,6 @@ class AutoTest(ABC):
if (timeout is not None and if (timeout is not None and
self.get_sim_time_cached() > tstart + timeout): self.get_sim_time_cached() > tstart + timeout):
raise WaitModeTimeout("Did not change mode") raise WaitModeTimeout("Did not change mode")
# self.progress("heartbeat mode %s Want: %s" % (
# self.mav.flightmode, mode))
self.progress("Got mode %s" % mode) self.progress("Got mode %s" % mode)
def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30): def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30):