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Tools: fixes from review feedback

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This commit is contained in:
Andrew Tridgell 2020-10-28 13:19:35 +11:00
parent 16bede2d74
commit 3e3da61396
2 changed files with 11 additions and 19 deletions
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27
Tools/autotest/arducopter.py
View File

@ -1021,7 +1021,7 @@ class AutoTestCopter(AutoTest):
self.progress("Holding loiter at %u meters for %u seconds" % self.progress("Holding loiter at %u meters for %u seconds" %
(start_altitude, holdtime)) (start_altitude, holdtime))
# cut motor 1 to 65% efficiency # cut motor 1's to efficiency
self.progress("Cutting motor 1 to 65% efficiency") self.progress("Cutting motor 1 to 65% efficiency")
self.set_parameter("SIM_ENGINE_MUL", 0.65) self.set_parameter("SIM_ENGINE_MUL", 0.65)
@ -1561,8 +1561,8 @@ class AutoTestCopter(AutoTest):
self.set_parameter("SUPER_SIMPLE", 63) self.set_parameter("SUPER_SIMPLE", 63)
# switch to stabilize mode # switch to stabilize mode
self.change_mode("STABILIZE") self.change_mode("ALT_HOLD")
self.set_rc(3, 1550) self.set_rc(3, 1500)
# start copter yawing slowly # start copter yawing slowly
self.set_rc(4, 1550) self.set_rc(4, 1550)
@ -1756,8 +1756,7 @@ class AutoTestCopter(AutoTest):
# we can't takeoff in loiter as we need flow healthy # we can't takeoff in loiter as we need flow healthy
self.takeoff(alt_min=3, mode='ALT_HOLD', require_absolute=False, takeoff_throttle=1800) self.takeoff(alt_min=3, mode='ALT_HOLD', require_absolute=False, takeoff_throttle=1800)
self.mavproxy.send('mode loiter\n') self.change_mode('LOITER')
self.wait_mode('LOITER')
# speed should be limited to <10m/s # speed should be limited to <10m/s
self.set_rc(2, 1000) self.set_rc(2, 1000)
@ -1804,8 +1803,7 @@ class AutoTestCopter(AutoTest):
self.takeoff(10) self.takeoff(10)
# hold position in loiter # hold position in loiter
self.mavproxy.send('mode autotune\n') self.change_mode('AUTOTUNE')
self.wait_mode('AUTOTUNE')
tstart = self.get_sim_time() tstart = self.get_sim_time()
sim_time_expected = 5000 sim_time_expected = 5000
@ -3444,8 +3442,7 @@ class AutoTestCopter(AutoTest):
self.mavproxy.send('mode loiter\n') self.mavproxy.send('mode loiter\n')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.mavproxy.send('mode auto\n') self.change_mode('AUTO')
self.wait_mode('AUTO')
self.set_rc(3, 1500) self.set_rc(3, 1500)
self.wait_altitude(10, 3000, relative=True) self.wait_altitude(10, 3000, relative=True)
except Exception as e: except Exception as e:
@ -3559,8 +3556,7 @@ class AutoTestCopter(AutoTest):
if m.pointing_a != 0 or m.pointing_b != 0 or m.pointing_c != 0: if m.pointing_a != 0 or m.pointing_b != 0 or m.pointing_c != 0:
raise NotAchievedException("Mount stabilising when not requested") raise NotAchievedException("Mount stabilising when not requested")
self.mavproxy.send('mode guided\n') self.change_mode('GUIDED')
self.wait_mode('GUIDED')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -4560,8 +4556,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(2, 1550) self.set_rc(2, 1550)
self.wait_distance(5, accuracy=1) self.wait_distance(5, accuracy=1)
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.mavproxy.send('mode loiter\n') self.change_mode('LOITER')
self.wait_mode('LOITER')
# turn precision loiter on: # turn precision loiter on:
self.set_rc(7, 2000) self.set_rc(7, 2000)
@ -4620,8 +4615,7 @@ class AutoTestCopter(AutoTest):
ex = None ex = None
try: try:
self.set_parameter("PILOT_TKOFF_ALT", 700) self.set_parameter("PILOT_TKOFF_ALT", 700)
self.mavproxy.send('mode POSHOLD\n') self.change_mode('POSHOLD')
self.wait_mode('POSHOLD')
self.set_rc(3, 1000) self.set_rc(3, 1000)
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -5893,8 +5887,7 @@ class AutoTestHeli(AutoTestCopter):
self.set_parameter("AROT_ENABLE", 1) self.set_parameter("AROT_ENABLE", 1)
start_alt = 100 # metres start_alt = 100 # metres
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100) self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
self.mavproxy.send('mode POSHOLD\n') self.change_mode('POSHOLD')
self.wait_mode('POSHOLD')
self.set_rc(3, 1000) self.set_rc(3, 1000)
self.set_rc(8, 1000) self.set_rc(8, 1000)
self.wait_ready_to_arm() self.wait_ready_to_arm()

3
Tools/autotest/quadplane.py
View File

@ -590,7 +590,7 @@ class AutoTestQuadPlane(AutoTest):
self.set_rc(3, 1800) self.set_rc(3, 1800)
self.change_mode("FBWA") self.change_mode("FBWA")
# disable stall prevention to roll angle is not limited # disable stall prevention so roll angle is not limited
self.set_parameter("STALL_PREVENTION", 0) self.set_parameter("STALL_PREVENTION", 0)
thr_min_pwm = self.get_parameter("Q_THR_MIN_PWM") thr_min_pwm = self.get_parameter("Q_THR_MIN_PWM")
@ -633,7 +633,6 @@ class AutoTestQuadPlane(AutoTest):
self.wait_roll(lim_roll_deg, 5) self.wait_roll(lim_roll_deg, 5)
self.context_pop() self.context_pop()
self.set_rc(1, 1500) self.set_rc(1, 1500)
self.mavproxy.send('rally clear\n')
self.set_parameter("Q_RTL_MODE", 1) self.set_parameter("Q_RTL_MODE", 1)
self.change_mode("RTL") self.change_mode("RTL")
self.wait_disarmed(timeout=300) self.wait_disarmed(timeout=300)