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autotest: tidy streamrate handling

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Stop setting MAVProxy stream rates; these are neither here-nor-there now as MAVProxy will only modify its own connection's streamrates now

Stop doing the set-streamrate dance to work around MAVProxy's
set_streamrate algorithms.

Remove useless and misleading set of streamrate in Plane test; we reset
streamrates on the reboot immediately following this set.  Considering
the streamrate was never eset this was a good thing.
This commit is contained in:
Peter Barker 2021-03-01 10:44:36 +11:00 committed by Peter Barker
parent f028747399
commit 425ab1358a
3 changed files with 1 additions and 20 deletions
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3
Tools/autotest/arducopter.py
View File

@ -1816,7 +1816,6 @@ class AutoTestCopter(AutoTest):
def fly_flip(self):
ex = None
try:
self.mavproxy.send("set streamrate -1\n")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 100)
self.takeoff(20)
@ -1853,8 +1852,6 @@ class AutoTestCopter(AutoTest):
self.print_exception_caught(e)
ex = e
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 0)
sr = self.sitl_streamrate()
self.mavproxy.send("set streamrate %u\n" % sr)
if ex is not None:
raise ex

1
Tools/autotest/arduplane.py
View File

@ -2173,7 +2173,6 @@ class AutoTestPlane(AutoTest):
"INS_TCAL2_TMAX": 42,
"SIM_SPEEDUP": 200,
})
self.set_streamrate(1)
self.set_parameter("LOG_DISARMED", 1)
self.reboot_sitl()

17
Tools/autotest/common.py
View File

@ -2113,9 +2113,7 @@ class AutoTest(ABC):
def initialise_after_reboot_sitl(self):
# after reboot stream-rates may be zero. Prompt MAVProxy to
# send a rate-change message by changing away from our normal
# stream rates and back again:
# after reboot stream-rates may be zero. Request streams.
self.drain_mav()
self.wait_heartbeat()
self.set_streamrate(self.sitl_streamrate())
@ -2138,12 +2136,7 @@ class AutoTest(ABC):
except IOError:
pass
break
# MAVProxy only checks the streamrates once every 15 seconds.
# Encourage it:
self.set_streamrate(self.sitl_streamrate()+1)
self.set_streamrate(self.sitl_streamrate())
# we also need to wait for MAVProxy to requests streams again
# - in particular, RC_CHANNELS.
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=15)
if m is None:
raise NotAchievedException("No RC_CHANNELS message after restarting SITL")
@ -2159,7 +2152,6 @@ class AutoTest(ABC):
self.progress("Resetting SITL commandline to default")
self.stop_SITL()
self.start_SITL(wipe=True)
self.set_streamrate(self.sitl_streamrate()+1)
self.set_streamrate(self.sitl_streamrate())
self.apply_defaultfile_parameters()
try:
@ -7346,9 +7338,6 @@ Also, ignores heartbeats not from our target system'''
self.victim_message_id = mavutil.mavlink.MAVLINK_MSG_ID_VFR_HUD
ex = None
try:
# tell MAVProxy to stop stuffing around with the rates:
self.mavproxy.send("set streamrate -1\n")
rate = round(self.get_message_rate(self.victim_message, 20))
self.progress("Initial rate: %u" % rate)
@ -7404,10 +7393,6 @@ Also, ignores heartbeats not from our target system'''
self.progress("Resetting CAMERA_FEEDBACK rate to zero")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, -1)
# tell MAVProxy to start stuffing around with the rates:
sr = self.sitl_streamrate()
self.mavproxy.send("set streamrate %u\n" % sr)
if ex is not None:
raise ex