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autotest: send mode change messages directly rather than via MAVProxy

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This commit is contained in:
Peter Barker 2020-12-26 20:16:42 +11:00 committed by Peter Barker
parent d31f676c33
commit 38ea62c5d7
1 changed files with 9 additions and 1 deletions
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10
Tools/autotest/common.py
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@ -3881,7 +3881,15 @@ class AutoTest(ABC):
'''change vehicle flightmode'''
self.wait_heartbeat()
self.progress("Changing mode to %s" % mode)
self.mavproxy.send('mode %s\n' % mode)
self.send_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MODE,
mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
self.get_mode_from_mode_mapping(mode),
0,
0,
0,
0,
0,
)
tstart = self.get_sim_time()
while not self.mode_is(mode):
custom_num = self.mav.messages['HEARTBEAT'].custom_mode