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Tools: autotest: make fly_avc_test a little more self-contained

This commit is contained in:
Peter Barker 2018-12-06 08:35:55 +11:00 committed by Peter Barker
parent 9767c74311
commit 4ae8595da3
1 changed files with 13 additions and 8 deletions
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21
Tools/autotest/arducopter.py
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@ -1125,6 +1125,15 @@ class AutoTestCopter(AutoTest):
# fly_avc_test - fly AVC mission # fly_avc_test - fly AVC mission
def fly_avc_test(self): def fly_avc_test(self):
# Arm
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
# upload mission from file # upload mission from file
self.progress("# Load copter_AVC2013_mission") self.progress("# Load copter_AVC2013_mission")
# load the waypoint count # load the waypoint count
@ -1154,6 +1163,9 @@ class AutoTestCopter(AutoTest):
self.mav.motors_disarmed_wait() self.mav.motors_disarmed_wait()
self.progress("MOTORS DISARMED OK") self.progress("MOTORS DISARMED OK")
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
self.progress("AVC mission completed: passed!") self.progress("AVC mission completed: passed!")
def fly_motor_fail(self, fail_servo=0, fail_mul=0.0, holdtime=30): def fly_motor_fail(self, fail_servo=0, fail_mul=0.0, holdtime=30):
@ -2661,18 +2673,11 @@ class AutoTestCopter(AutoTest):
self.mavproxy.send('switch 6\n') # stabilize mode self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE') self.wait_mode('STABILIZE')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.run_test("Arm features", self.test_arm_feature) self.run_test("Arm features", self.test_arm_feature)
# Arm
self.run_test("Arm motors", self.arm_vehicle)
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.run_test("Fly AVC mission", self.fly_avc_test) self.run_test("Fly AVC mission", self.fly_avc_test)
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
# mission ends with disarm so should be ok to download logs now # mission ends with disarm so should be ok to download logs now
self.run_test("log download", self.run_test("log download",
lambda: self.log_download( lambda: self.log_download(