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Tools: autotest: make changing mode more reliable

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There are race conditions between setting mode switches and using
MAVProxy to change mode.  This should remove some of the issues.
This commit is contained in:
Peter Barker 2019-02-06 07:53:46 +11:00 committed by Peter Barker
parent 657e1bee5a
commit 4d2d1350c4
1 changed files with 16 additions and 2 deletions
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18
Tools/autotest/common.py
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@ -1013,10 +1013,24 @@ class AutoTest(ABC):
bearing += 360.00
return bearing
def change_mode(self, mode):
def change_mode(self, mode, timeout=60):
'''change vehicle flightmode'''
self.progress("Changing mode to %s" % mode)
self.mavproxy.send('mode %s\n' % mode)
self.wait_mode(mode)
tstart = self.get_sim_time()
self.wait_heartbeat()
while self.mav.flightmode != mode:
custom_num = self.mav.messages['HEARTBEAT'].custom_mode
self.progress("mav.flightmode=%s Want=%s custom=%u" % (
self.mav.flightmode, mode, custom_num))
if (timeout is not None and
self.get_sim_time() > tstart + timeout):
raise WaitModeTimeout("Did not change mode")
self.mavproxy.send('mode %s\n' % mode)
self.wait_heartbeat()
# self.progress("heartbeat mode %s Want: %s" % (
# self.mav.flightmode, mode))
self.progress("Got mode %s" % mode)
def do_get_autopilot_capabilities(self):
tstart = self.get_sim_time()