Tools: updated test helpers to assist in replay testing

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>

Tools/scripts/runcoptertest.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+
+import pexpect, time, sys
+from pymavlink import mavutil
+
+def wait_heartbeat(mav, timeout=10):
+    '''wait for a heartbeat'''
+    start_time = time.time()
+    while time.time() < start_time+timeout:
+        if mav.recv_match(type='HEARTBEAT', blocking=True, timeout=0.5) is not None:
+            return
+    raise Exception("Failed to get heartbeat")    
+
+def wait_mode(mav, modes, timeout=10):
+    '''wait for one of a set of flight modes'''
+    start_time = time.time()
+    last_mode = None
+    while time.time() < start_time+timeout:
+        wait_heartbeat(mav, timeout=10)
+        if mav.flightmode != last_mode:
+            print("Flightmode %s" % mav.flightmode)
+            last_mode = mav.flightmode
+        if mav.flightmode in modes:
+            return
+    print("Failed to get mode from %s" % modes)
+    sys.exit(1)
+
+def wait_time(mav, simtime):
+    '''wait for simulation time to pass'''
+    imu = mav.recv_match(type='RAW_IMU', blocking=True)
+    t1 = imu.time_usec*1.0e-6
+    while True:
+        imu = mav.recv_match(type='RAW_IMU', blocking=True)
+        t2 = imu.time_usec*1.0e-6
+        if t2 - t1 > simtime:
+            break
+
+cmd = '../Tools/autotest/sim_vehicle.py -D'
+mavproxy = pexpect.spawn(cmd, logfile=sys.stdout, timeout=30)
+mavproxy.expect("Frame")
+
+mav = mavutil.mavlink_connection('127.0.0.1:14550')
+
+wait_mode(mav, ['STABILIZE'])
+mavproxy.send('speedup 40\n')
+mavproxy.expect('using GPS')
+mavproxy.expect('using GPS')
+mavproxy.expect('using GPS')
+mavproxy.expect('using GPS')
+mavproxy.send('arm throttle\n')
+mavproxy.expect('Arming')
+mavproxy.send('mode loiter\n')
+wait_mode(mav, ['LOITER'])
+mavproxy.send('rc 3 2000\n')
+wait_time(mav, 20)
+mavproxy.send('rc 3 1500\n')
+mavproxy.send('mode CIRCLE\n')
+wait_time(mav, 90)

Tools/scripts/runplanetest.py

@@ -35,21 +35,18 @@ def wait_time(mav, simtime):
         if t2 - t1 > simtime:
             break
 
-cmd = 'sim_vehicle.py -j4 -D -f plane'
+cmd = '../Tools/autotest/sim_vehicle.py -D -f quadplane'
 mavproxy = pexpect.spawn(cmd, logfile=sys.stdout, timeout=30)
 mavproxy.expect("ArduPilot Ready")
 
 mav = mavutil.mavlink_connection('127.0.0.1:14550')
 
-wait_mode(mav, ['MANUAL'])
-mavproxy.send('wp list\n')
-mavproxy.expect('Requesting')
-wait_time(mav, 30)
-mavproxy.send('arm throttle\n')
+mavproxy.send('speedup 40\n')
+mavproxy.expect('using GPS')
+mavproxy.expect('using GPS')
+mavproxy.expect('using GPS')
+mavproxy.expect('using GPS')
 mavproxy.send('auto\n')
+mavproxy.send('arm throttle\n')
 wait_mode(mav, ['AUTO'])
-mavproxy.send('module load console\n')
-mavproxy.send('module load map\n')
-mavproxy.send('map set showsimpos 1\n')
-mavproxy.logfile = None
-mavproxy.interact()
+mavproxy.expect("Mission: 5 WP")