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Tools: autotest: make changing mode more reliable 

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()