autotest: CI fixes for 4.4

Tools/Replay/check_replay.py

@@ -40,7 +40,7 @@ def check_log(logfile, progress=print, ekf2_only=False, ekf3_only=False, verbose
         if not hasattr(m,'C'):
             continue
         mtype = m.get_type()
-        if not mtype in counts:
+        if mtype not in counts:
             counts[mtype] = 0
             base_counts[mtype] = 0
         core = m.C

Tools/autotest/arducopter.py

@@ -134,7 +134,7 @@ class AutoTestCopter(AutoTest):
                      0, # param6
                      alt_min # param7
                      )
-        self.wait_for_alt(alt_min, timeout=timeout, max_err=max_err)
+        self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
 
     def takeoff(self,
                 alt_min=30,
@@ -154,17 +154,10 @@ class AutoTestCopter(AutoTest):
             self.user_takeoff(alt_min=alt_min, timeout=timeout, max_err=max_err)
         else:
             self.set_rc(3, takeoff_throttle)
-        self.wait_for_alt(alt_min=alt_min, timeout=timeout, max_err=max_err)
+        self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
         self.hover()
         self.progress("TAKEOFF COMPLETE")
 
-    def wait_for_alt(self, alt_min=30, timeout=30, max_err=5):
-        """Wait for minimum altitude to be reached."""
-        self.wait_altitude(alt_min - 1,
-                           (alt_min + max_err),
-                           relative=True,
-                           timeout=timeout)
-
     def land_and_disarm(self, timeout=60):
         """Land the quad."""
         self.progress("STARTING LANDING")
@@ -176,7 +169,7 @@ class AutoTestCopter(AutoTest):
         m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
         alt = m.relative_alt / 1000.0 # mm -> m
         if alt > min_alt:
-            self.wait_for_alt(min_alt, timeout=timeout)
+            self.wait_altitude(min_alt-1, min_alt+5, relative=True, timeout=timeout)
 #        self.wait_statustext("SIM Hit ground", timeout=timeout)
         self.wait_disarmed()
 
@@ -2086,7 +2079,7 @@ class AutoTestCopter(AutoTest):
 
             self.progress("Regaining altitude")
             self.change_mode('ALT_HOLD')
-            self.wait_for_alt(20, max_err=40)
+            self.wait_altitude(19, 60, relative=True)
 
             self.progress("Flipping in pitch")
             self.set_rc(2, 1700)
@@ -2426,7 +2419,7 @@ class AutoTestCopter(AutoTest):
                     raise NotAchievedException("AUTOTUNE gains not present in pilot testing")
                 # land without changing mode
                 self.set_rc(3, 1000)
-                self.wait_for_alt(0)
+                self.wait_altitude(-1, 5, relative=True)
                 self.wait_disarmed()
                 # Check gains are still there after disarm
                 if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
@@ -2677,7 +2670,7 @@ class AutoTestCopter(AutoTest):
                      0,
                      timeout=10,
                      want_result=mavutil.mavlink.MAV_RESULT_FAILED)
-        self.wait_statustext("Node {} unhealthy".format(gps1_nodeid), check_context=True)
+        self.wait_statustext(".*Node .* unhealthy", check_context=True, regex=True)
         self.stop_sup_program(instance=0)
         self.start_sup_program(instance=0)
         self.context_stop_collecting('STATUSTEXT')
@@ -3850,7 +3843,7 @@ class AutoTestCopter(AutoTest):
                 new_pos = self.mav.location()
                 delta = self.get_distance(target, new_pos)
                 self.progress("Landed %f metres from target position" % delta)
-                max_delta = 1
+                max_delta = 1.5
                 if delta > max_delta:
                     raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
 
@@ -4567,7 +4560,7 @@ class AutoTestCopter(AutoTest):
             # determine if we've successfully navigated to close to
             # where we should be:
             dist = math.sqrt(delta_ef.x * delta_ef.x + delta_ef.y * delta_ef.y)
-            dist_max = 0.15
+            dist_max = 1
             self.progress("dist=%f want <%f" % (dist, dist_max))
             if dist < dist_max:
                 # success!  We've gotten within our target distance
@@ -4645,6 +4638,7 @@ class AutoTestCopter(AutoTest):
 
         except Exception as e:
             self.print_exception_caught(e)
+            self.disarm_vehicle(force=True)
             ex = e
 
         self.context_pop()
@@ -6825,6 +6819,7 @@ class AutoTestCopter(AutoTest):
             failed = False
             wants = []
             gots = []
+            epsilon = 20
             while True:
                 if self.get_sim_time_cached() - tstart > 30:
                     raise AutoTestTimeoutException("Failed to get distances")
@@ -6837,7 +6832,7 @@ class AutoTestCopter(AutoTest):
                 want = expected_distances_copy[m.orientation]
                 wants.append(want)
                 gots.append(got)
-                if abs(want - got) > 5:
+                if abs(want - got) > epsilon:
                     failed = True
                 del expected_distances_copy[m.orientation]
             if failed:
@@ -6856,9 +6851,11 @@ class AutoTestCopter(AutoTest):
             })
             self.set_analog_rangefinder_parameters()
             self.reboot_sitl()
-            tstart = self.get_sim_time()
+
             self.change_mode('LOITER')
             self.wait_ekf_happy()
+
+            tstart = self.get_sim_time()
             while True:
                 if self.armed():
                     break
@@ -6909,7 +6906,7 @@ class AutoTestCopter(AutoTest):
                 if self.get_sim_time_cached() - tstart > 10:
                     break
                 vel = self.get_body_frame_velocity()
-                if vel.length() > 0.3:
+                if vel.length() > 0.5:
                     raise NotAchievedException("Moved too much (%s)" %
                                                (str(vel),))
                 shove(None, None)
@@ -8337,7 +8334,7 @@ class AutoTestCopter(AutoTest):
             def verify_yaw(mav, m):
                 if m.get_type() != 'ATTITUDE':
                     return
-                yawspeed_thresh_rads = math.radians(10)
+                yawspeed_thresh_rads = math.radians(20)
                 if m.yawspeed > yawspeed_thresh_rads:
                     raise NotAchievedException("Excessive yaw on takeoff: %f deg/s > %f deg/s (frame=%s)" %
                                                (math.degrees(m.yawspeed), math.degrees(yawspeed_thresh_rads), frame))

Tools/autotest/arduplane.py

@@ -20,6 +20,8 @@ from common import AutoTestTimeoutException
 from common import NotAchievedException
 from common import PreconditionFailedException
 from common import WaitModeTimeout
+from common import Test
+
 from pymavlink.rotmat import Vector3
 from pysim import vehicleinfo
 
@@ -780,6 +782,7 @@ class AutoTestPlane(AutoTest):
             0,
             0)
         self.wait_airspeed(new_target_airspeed-0.5, new_target_airspeed+0.5)
+        self.context_push()
         self.progress("Adding some wind, hoping groundspeed increases/decreases")
         self.set_parameters({
             "SIM_WIND_SPD": 7,
@@ -797,6 +800,7 @@ class AutoTestPlane(AutoTest):
             self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta))
             if delta > want_delta:
                 break
+        self.context_pop()
         self.fly_home_land_and_disarm(timeout=240)
 
     def fly_home_land_and_disarm(self, timeout=120):
@@ -994,7 +998,7 @@ class AutoTestPlane(AutoTest):
         self.context_collect("HEARTBEAT")
         self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
         self.wait_mode('RTL') # long failsafe
-        if (not self.get_mode_from_mode_mapping("CIRCLE") in
+        if (self.get_mode_from_mode_mapping("CIRCLE") not in
                 [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
             raise NotAchievedException("Did not go via circle mode")
         self.progress("Ensure we've had our throttle squashed to 950")
@@ -1032,7 +1036,7 @@ class AutoTestPlane(AutoTest):
         self.context_collect("HEARTBEAT")
         self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
         self.wait_mode('RTL') # long failsafe
-        if (not self.get_mode_from_mode_mapping("CIRCLE") in
+        if (self.get_mode_from_mode_mapping("CIRCLE") not in
                 [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
             raise NotAchievedException("Did not go via circle mode")
         self.do_timesync_roundtrip()
@@ -1169,29 +1173,28 @@ class AutoTestPlane(AutoTest):
         '''Ensure Long-Failsafe works on GCS loss'''
         self.start_subtest("Test Failsafe: RTL")
         self.load_sample_mission()
-        self.set_parameter("RTL_AUTOLAND", 1)
-        self.change_mode("AUTO")
-        self.takeoff()
         self.set_parameters({
             "FS_GCS_ENABL": 1,
             "FS_LONG_ACTN": 1,
+            "RTL_AUTOLAND": 1,
+            "SYSID_MYGCS": self.mav.source_system,
         })
+        self.takeoff()
+        self.change_mode('LOITER')
         self.progress("Disconnecting GCS")
         self.set_heartbeat_rate(0)
-        self.wait_mode("RTL", timeout=5)
+        self.wait_mode("RTL", timeout=10)
         self.set_heartbeat_rate(self.speedup)
         self.end_subtest("Completed RTL Failsafe test")
 
         self.start_subtest("Test Failsafe: FBWA Glide")
         self.set_parameters({
-            "RTL_AUTOLAND": 1,
             "FS_LONG_ACTN": 2,
         })
-        self.change_mode("AUTO")
+        self.change_mode('AUTO')
-        self.takeoff()
         self.progress("Disconnecting GCS")
         self.set_heartbeat_rate(0)
-        self.wait_mode("FBWA", timeout=5)
+        self.wait_mode("FBWA", timeout=10)
         self.set_heartbeat_rate(self.speedup)
         self.end_subtest("Completed FBWA Failsafe test")
 
@@ -1844,6 +1847,7 @@ class AutoTestPlane(AutoTest):
         self.fly_home_land_and_disarm()
 
     def deadreckoning_main(self, disable_airspeed_sensor=False):
+        self.reboot_sitl()
         self.wait_ready_to_arm()
         self.gpi = None
         self.simstate = None
@@ -2414,11 +2418,6 @@ class AutoTestPlane(AutoTest):
 
         self.load_mission('CMAC-soar.txt', strict=False)
 
-        self.set_current_waypoint(1)
-        self.change_mode('AUTO')
-        self.wait_ready_to_arm()
-        self.arm_vehicle()
-
         # Enable thermalling RC
         rc_chan = 0
         for i in range(8):
@@ -2432,15 +2431,22 @@ class AutoTestPlane(AutoTest):
 
         self.set_rc_from_map({
             rc_chan: 1900,
-            3: 1500, # Use trim airspeed.
         })
 
+        self.set_parameters({
+            "SOAR_VSPEED": 0.55,
+            "SOAR_MIN_THML_S": 25,
+        })
+
+        self.set_current_waypoint(1)
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
         # Wait to detect thermal
         self.progress("Waiting for thermal")
         self.wait_mode('THERMAL', timeout=600)
 
-        self.set_parameter("SOAR_VSPEED", 0.6)
-
         # Wait to climb to SOAR_ALT_MAX
         self.progress("Waiting for climb to max altitude")
         alt_max = self.get_parameter('SOAR_ALT_MAX')
@@ -4569,7 +4575,7 @@ class AutoTestPlane(AutoTest):
             self.AltResetBadGPS,
             self.AirspeedCal,
             self.MissionJumpTags,
-            self.GCSFailsafe,
+            Test(self.GCSFailsafe, speedup=8),
             self.SDCardWPTest,
         ])
         return ret

Tools/autotest/autotest.py

@@ -33,7 +33,6 @@ import helicopter
 
 import examples
 from pysim import util
-from pymavlink import mavutil
 from pymavlink.generator import mavtemplate
 
 from common import Test
@@ -58,47 +57,6 @@ def buildlogs_path(path):
     return os.path.join(*bits)
 
 
-def get_default_params(atype, binary):
-    """Get default parameters."""
-    # use rover simulator so SITL is not starved of input
-    HOME = mavutil.location(40.071374969556928,
-                            -105.22978898137808,
-                            1583.702759,
-                            246)
-    if "plane" in binary or "rover" in binary:
-        frame = "rover"
-    else:
-        frame = "+"
-
-    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
-    mavproxy_master = 'tcp:127.0.0.1:5760'
-    sitl = util.start_SITL(binary,
-                           wipe=True,
-                           model=frame,
-                           home=home,
-                           speedup=10,
-                           unhide_parameters=True)
-    mavproxy = util.start_MAVProxy_SITL(atype,
-                                        master=mavproxy_master)
-    print("Dumping defaults")
-    idx = mavproxy.expect([r'Saved [0-9]+ parameters to (\S+)'])
-    if idx == 0:
-        # we need to restart it after eeprom erase
-        util.pexpect_close(mavproxy)
-        util.pexpect_close(sitl)
-        sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
-        mavproxy = util.start_MAVProxy_SITL(atype,
-                                            master=mavproxy_master)
-        mavproxy.expect(r'Saved [0-9]+ parameters to (\S+)')
-    parmfile = mavproxy.match.group(1)
-    dest = buildlogs_path('%s-defaults.parm' % atype)
-    shutil.copy(parmfile, dest)
-    util.pexpect_close(mavproxy)
-    util.pexpect_close(sitl)
-    print("Saved defaults for %s to %s" % (atype, dest))
-    return True
-
-
 def build_all_filepath():
     """Get build_all.sh path."""
     return util.reltopdir('Tools/scripts/build_all.sh')
@@ -484,6 +442,11 @@ def run_step(step):
         return util.build_replay(board='SITL')
 
     if vehicle_binary is not None:
+        try:
+            binary = binary_path(step, debug=opts.debug)
+            os.unlink(binary)
+        except (FileNotFoundError, ValueError):
+            pass
         if len(vehicle_binary.split(".")) == 1:
             return util.build_SITL(vehicle_binary, **build_opts)
         else:
@@ -495,9 +458,6 @@ def run_step(step):
 
     binary = binary_path(step, debug=opts.debug)
 
-    if step.startswith("defaults"):
-        vehicle = step[9:]
-        return get_default_params(vehicle, binary)
     supplementary_binaries = []
     if step in suplementary_test_binary_map:
         for supplementary_test_binary in suplementary_test_binary_map[step]:
@@ -690,9 +650,10 @@ def write_fullresults():
     results.addglob("GPX track", '*.gpx')
 
     # results common to all vehicles:
-    vehicle_files = [('{vehicle} defaults', '{vehicle}-defaults.parm'),
+    vehicle_files = [
         ('{vehicle} core', '{vehicle}.core'),
-                     ('{vehicle} ELF', '{vehicle}.elf'), ]
+        ('{vehicle} ELF', '{vehicle}.elf'),
+    ]
     vehicle_globs = [('{vehicle} log', '{vehicle}-*.BIN'), ]
     for vehicle in all_vehicles():
         subs = {'vehicle': vehicle}
@@ -1082,33 +1043,28 @@ if __name__ == "__main__":
         'run.examples',
 
         'build.Plane',
-        'defaults.Plane',
         'test.Plane',
         'test.QuadPlane',
 
         'build.Rover',
-        'defaults.Rover',
         'test.Rover',
         'test.BalanceBot',
         'test.Sailboat',
 
         'build.Copter',
-        'defaults.Copter',
         'test.Copter',
 
         'build.Helicopter',
         'test.Helicopter',
 
         'build.Tracker',
-        'defaults.Tracker',
         'test.Tracker',
 
         'build.Sub',
-        'defaults.Sub',
         'test.Sub',
 
         'build.Blimp',
-        'defaults.Blimp',
+        'test.Blimp',
 
         'build.SITLPeriphGPS',
         'test.CAN',
@@ -1149,11 +1105,6 @@ if __name__ == "__main__":
         "drive.balancebot": "test.BalanceBot",
         "fly.CopterAVC": "test.Helicopter",
         "test.AntennaTracker": "test.Tracker",
-        "defaults.ArduCopter": "defaults.Copter",
-        "defaults.ArduPlane": "defaults.Plane",
-        "defaults.ArduSub": "defaults.Sub",
-        "defaults.APMrover2": "defaults.Rover",
-        "defaults.AntennaTracker": "defaults.Tracker",
         "fly.ArduCopterTests1a": "test.CopterTests1a",
         "fly.ArduCopterTests1b": "test.CopterTests1b",
         "fly.ArduCopterTests1c": "test.CopterTests1c",

Tools/autotest/common.py

@@ -1984,6 +1984,7 @@ class AutoTest(ABC):
         self.progress("Rebooting SITL")
         self.reboot_sitl_mav(required_bootcount=required_bootcount, force=force)
         self.do_heartbeats(force=True)
+        if self.frame != 'sailboat':  # sailboats drift with wind!
             self.assert_simstate_location_is_at_startup_location()
 
     def reboot_sitl_mavproxy(self, required_bootcount=None):
@@ -2038,6 +2039,7 @@ class AutoTest(ABC):
 
     def set_streamrate(self, streamrate, timeout=20, stream=mavutil.mavlink.MAV_DATA_STREAM_ALL):
         '''set MAV_DATA_STREAM_ALL; timeout is wallclock time'''
+        self.do_timesync_roundtrip(timeout_in_wallclock=True)
         tstart = time.time()
         while True:
             if time.time() - tstart > timeout:
@@ -3363,17 +3365,19 @@ class AutoTest(ABC):
                 self.progress("Received: %s" % str(m))
             if m is None:
                 continue
-            if m.tc1 == 0:
-                self.progress("this is a timesync request, which we don't answer")
-                continue
             if m.ts1 % 1000 != self.mav.source_system:
                 self.progress("this isn't a response to our timesync (%s)" % (m.ts1 % 1000))
                 continue
+            if m.tc1 == 0:
+                # this should also not happen:
+                self.progress("this is a timesync request, which we don't answer")
+                continue
             if int(m.ts1 / 1000) != self.timesync_number:
                 self.progress("this isn't the one we just sent")
                 continue
             if m.get_srcSystem() != self.mav.target_system:
-                self.progress("response from system other than our target")
+                self.progress("response from system other than our target (want=%u got=%u" %
+                              (self.mav.target_system, m.get_srcSystem()))
                 continue
             # no component check ATM because we send broadcast...
 #            if m.get_srcComponent() != self.mav.target_component:
@@ -4473,13 +4477,14 @@ class AutoTest(ABC):
                 raise ValueError("count %u not handled" % count)
         self.progress("Rally content same")
 
-    def load_rally(self, filename):
+    def load_rally_using_mavproxy(self, filename):
         """Load rally points from a file to flight controller."""
         self.progress("Loading rally points (%s)" % filename)
         path = os.path.join(testdir, self.current_test_name_directory, filename)
         mavproxy = self.start_mavproxy()
         mavproxy.send('rally load %s\n' % path)
         mavproxy.expect("Loaded")
+        self.delay_sim_time(10)  # allow transfer to complete
         self.stop_mavproxy(mavproxy)
 
     def load_sample_mission(self):
@@ -6385,10 +6390,13 @@ class AutoTest(ABC):
             **kwargs
         )
 
-    def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=30, **kwargs):
+    def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=None, **kwargs):
         """Wait for a given altitude range."""
         assert altitude_min <= altitude_max, "Minimum altitude should be less than maximum altitude."
 
+        if timeout is None:
+            timeout = 30
+
         def validator(value2, target2=None):
             if altitude_min <= value2 <= altitude_max:
                 return True
@@ -6773,11 +6781,12 @@ class AutoTest(ABC):
         return Vector3(msg.vx, msg.vy, msg.vz)
 
     """Wait for a given speed vector."""
-    def wait_speed_vector(self, speed_vector, accuracy=0.2, timeout=30, **kwargs):
+    def wait_speed_vector(self, speed_vector, accuracy=0.3, timeout=30, **kwargs):
         def validator(value2, target2):
-            return (math.fabs(value2.x - target2.x) <= accuracy and
+            for (want, got) in (target2.x, value2.x), (target2.y, value2.y), (target2.z, value2.z):
-                    math.fabs(value2.y - target2.y) <= accuracy and
+                if want != float("nan") and (math.fabs(got - want) > accuracy):
-                    math.fabs(value2.z - target2.z) <= accuracy)
+                    return False
+            return True
 
         self.wait_and_maintain(
             value_name="SpeedVector",
@@ -7211,7 +7220,7 @@ class AutoTest(ABC):
 
     def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30):
         self.progress("Waiting for GPS health")
-        tstart = self.get_sim_time_cached()
+        tstart = self.get_sim_time()
         while True:
             now = self.get_sim_time_cached()
             if now - tstart > timeout:
@@ -7652,6 +7661,10 @@ Also, ignores heartbeats not from our target system'''
         self.mav.mav.set_send_callback(self.send_message_hook, self)
         self.mav.idle_hooks.append(self.idle_hook)
 
+        # we need to wait for a heartbeat here.  If we don't then
+        # self.mav.target_system will be zero because it hasn't
+        # "locked on" to a target system yet.
+        self.wait_heartbeat()
         self.set_streamrate(self.sitl_streamrate())
 
     def show_test_timings_key_sorter(self, t):
@@ -7861,6 +7874,9 @@ Also, ignores heartbeats not from our target system'''
             passed = False
             reset_needed = True
 
+        # if we haven't already reset ArduPilot because it's dead,
+        # then ensure the vehicle was disarmed at the end of the test.
+        # If it wasn't then the test is considered failed:
         if ardupilot_alive and self.armed() and not self.is_tracker():
             if ex is None:
                 ex = ArmedAtEndOfTestException("Still armed at end of test")
@@ -7877,6 +7893,9 @@ Also, ignores heartbeats not from our target system'''
                 self.progress("Force-rebooting SITL")
                 self.reboot_sitl() # that'll learn it
             passed = False
+        elif not passed:  # implicit reboot after a failed test:
+            self.progress("Test failed but ArduPilot process alive; rebooting")
+            self.reboot_sitl() # that'll learn it
 
         if self._mavproxy is not None:
             self.progress("Stopping auto-started mavproxy")
@@ -8020,6 +8039,11 @@ Also, ignores heartbeats not from our target system'''
             self.sup_prog.append(sup_prog_link)
             self.expect_list_add(sup_prog_link)
 
+        # mavlink will have disconnected here.  Explicitly reconnect,
+        # or the first packet we send will be lost:
+        if self.mav is not None:
+            self.mav.reconnect()
+
     def get_suplementary_programs(self):
         return self.sup_prog
 
@@ -8380,11 +8404,11 @@ Also, ignores heartbeats not from our target system'''
         start_loc = self.sitl_start_location()
         self.progress("SITL start loc: %s" % str(start_loc))
         delta = abs(orig_home.latitude * 1.0e-7 - start_loc.lat)
-        if delta > 0.000001:
+        if delta > 0.000006:
             raise ValueError("homes differ in lat got=%f vs want=%f delta=%f" %
                              (orig_home.latitude * 1.0e-7, start_loc.lat, delta))
         delta = abs(orig_home.longitude * 1.0e-7 - start_loc.lng)
-        if delta > 0.000001:
+        if delta > 0.000006:
             raise ValueError("homes differ in lon  got=%f vs want=%f delta=%f" %
                              (orig_home.longitude * 1.0e-7, start_loc.lng, delta))
         if self.is_rover():
@@ -9575,6 +9599,8 @@ Also, ignores heartbeats not from our target system'''
                 self.set_rc(interlock_channel, 1000)
 
         self.start_subtest("Test all mode arming")
+        self.wait_ready_to_arm()
+
         if self.arming_test_mission() is not None:
             self.load_mission(self.arming_test_mission())
 
@@ -12986,6 +13012,7 @@ switch value'''
                                            (msg, m.alt, gpi_alt))
         introduced_error = 10  # in metres
         self.set_parameter("SIM_GPS2_ALT_OFS", introduced_error)
+        self.do_timesync_roundtrip()
         m = self.assert_receive_message("GPS2_RAW")
         if abs((m.alt-introduced_error*1000) - gpi_alt) > 100:
             raise NotAchievedException("skewed Alt (%s) discrepancy; %d+%d vs %d" %
@@ -13004,9 +13031,11 @@ switch value'''
         if abs(new_gpi_alt2 - m.alt) > 100:
             raise NotAchievedException("Failover not detected")
 
-    def fetch_file_via_ftp(self, path):
+    def fetch_file_via_ftp(self, path, timeout=20):
         '''returns the content of the FTP'able file at path'''
+        self.progress("Retrieving (%s) using MAVProxy" % path)
         mavproxy = self.start_mavproxy()
+        mavproxy.expect("Saved .* parameters to")
         ex = None
         tmpfile = tempfile.NamedTemporaryFile(mode='r', delete=False)
         try:
@@ -13015,9 +13044,18 @@ switch value'''
             mavproxy.send("ftp set debug 1\n")  # so we get the "Terminated session" message
             mavproxy.send("ftp get %s %s\n" % (path, tmpfile.name))
             mavproxy.expect("Getting")
-            self.delay_sim_time(2)
+            tstart = self.get_sim_time()
+            while True:
+                now = self.get_sim_time()
+                if now - tstart > timeout:
+                    raise NotAchievedException("expected complete transfer")
+                self.progress("Polling status")
                 mavproxy.send("ftp status\n")
-            mavproxy.expect("No transfer in progress")
+                try:
+                    mavproxy.expect("No transfer in progress", timeout=1)
+                    break
+                except Exception:
+                    continue
             # terminate the connection, or it may still be in progress the next time an FTP is attempted:
             mavproxy.send("ftp cancel\n")
             mavproxy.expect("Terminated session")

Tools/autotest/default_params/quadplane-ice.parm

@@ -1 +1,2 @@
 Q_OPTIONS 64
+ICE_RPM_THRESH 50  # idles at 70 (1% thrust)

Tools/autotest/helicopter.py

@@ -161,7 +161,7 @@ class AutoTestHelicopter(AutoTestCopter):
             self.user_takeoff(alt_min=alt_min)
         else:
             self.set_rc(3, takeoff_throttle)
-        self.wait_for_alt(alt_min=alt_min, timeout=timeout)
+        self.wait_altitude(alt_min-1, alt_min+5, relative=True, timeout=timeout)
         self.hover()
         self.progress("TAKEOFF COMPLETE")
 

Tools/autotest/pysim/util.py

@@ -393,6 +393,31 @@ class FakeMacOSXSpawn(object):
         return True
 
 
+class PSpawnStdPrettyPrinter(object):
+    '''a fake filehandle-like object which prefixes a string to all lines
+    before printing to stdout/stderr.  To be used to pass to
+    pexpect.spawn's logfile argument
+    '''
+    def __init__(self, output=sys.stdout, prefix="stdout"):
+        self.output = output
+        self.prefix = prefix
+        self.buffer = ""
+
+    def close(self):
+        self.print_prefixed_line(self.buffer)
+
+    def write(self, data):
+        self.buffer += data
+        for line in self.buffer.split("\n"):
+            self.print_prefixed_line(line)
+
+    def print_prefixed_line(self, line):
+        print("%s: %s" % (self.prefix, line), file=self.output)
+
+    def flush(self):
+        pass
+
+
 def start_SITL(binary,
                valgrind=False,
                callgrind=False,
@@ -411,7 +436,8 @@ def start_SITL(binary,
                customisations=[],
                lldb=False,
                enable_fgview_output=False,
-               supplementary=False):
+               supplementary=False,
+               stdout_prefix=None):
 
     if model is None and not supplementary:
         raise ValueError("model must not be None")
@@ -513,6 +539,11 @@ def start_SITL(binary,
 
     cmd.extend(customisations)
 
+    pexpect_logfile_prefix = stdout_prefix
+    if pexpect_logfile_prefix is None:
+        pexpect_logfile_prefix = os.path.basename(binary)
+    pexpect_logfile = PSpawnStdPrettyPrinter(prefix=pexpect_logfile_prefix)
+
     if (gdb or lldb) and sys.platform == "darwin" and os.getenv('DISPLAY'):
         global windowID
         # on MacOS record the window IDs so we can close them later
@@ -550,7 +581,7 @@ def start_SITL(binary,
         # AP gets a redirect-stdout-to-filehandle option.  So, in the
         # meantime, return a dummy:
         return pexpect.spawn("true", ["true"],
-                             logfile=sys.stdout,
+                             logfile=pexpect_logfile,
                              encoding=ENCODING,
                              timeout=5)
     else:
@@ -558,7 +589,7 @@ def start_SITL(binary,
 
         first = cmd[0]
         rest = cmd[1:]
-        child = pexpect.spawn(first, rest, logfile=sys.stdout, encoding=ENCODING, timeout=5)
+        child = pexpect.spawn(first, rest, logfile=pexpect_logfile, encoding=ENCODING, timeout=5)
         pexpect_autoclose(child)
     # give time for parameters to properly setup
     time.sleep(3)

Tools/autotest/quadplane.py

@@ -946,7 +946,7 @@ class AutoTestQuadPlane(AutoTest):
         self.wait_rpm(1, 6500, 7500, minimum_duration=30, timeout=40)
         self.progress("Setting min-throttle")
         self.set_rc(3, 1000)
-        self.wait_rpm(1, 300, 400, minimum_duration=1)
+        self.wait_rpm(1, 65, 75, minimum_duration=1)
         self.progress("Setting engine-start RC switch to LOW")
         self.set_rc(rc_engine_start_chan, 1000)
         self.wait_rpm(1, 0, 0, minimum_duration=1)

Tools/autotest/rover.py

@@ -1290,7 +1290,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
 
     def Rally(self):
         '''Test Rally Points'''
-        self.load_rally("rover-test-rally.txt")
+        self.load_rally_using_mavproxy("rover-test-rally.txt")
+        self.assert_parameter_value('RALLY_TOTAL', 2)
 
         self.wait_ready_to_arm()
         self.arm_vehicle()
@@ -6293,7 +6294,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.DriveRTL,
             self.SmartRTL,
             self.DriveSquare,
-            self.DriveMaxRCIN,
             self.DriveMission,
             # self.DriveBrake,  # disabled due to frequent failures
             self.GetBanner,