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Tools: use set_parameter instead of mavproxy directly

This commit is contained in:
Pierre Kancir 2018-08-06 14:30:42 +02:00 committed by Peter Barker
parent 05099b8b8b
commit 579d471e98
2 changed files with 22 additions and 22 deletions
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42
Tools/autotest/arducopter.py
View File

@ -459,7 +459,7 @@ class AutoTestCopter(AutoTest):
# cut motor 1 to 55% efficiency
self.progress("Cutting motor 1 to 60% efficiency")
self.mavproxy.send('param set SIM_ENGINE_MUL 0.60\n')
self.set_parameter("SIM_ENGINE_MUL", 0.60)
while self.get_sim_time() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
@ -477,7 +477,7 @@ class AutoTestCopter(AutoTest):
raise NotAchievedException()
# restore motor 1 to 100% efficiency
self.mavproxy.send('param set SIM_ENGINE_MUL 1.0\n')
self.set_parameter("SIM_ENGINE_MUL", 1.0)
self.progress("Stability patch and Loiter OK for %us" % holdtime)
@ -488,8 +488,8 @@ class AutoTestCopter(AutoTest):
self.wait_mode('LOITER')
# enable fence, disable avoidance
self.mavproxy.send('param set FENCE_ENABLE 1\n')
self.mavproxy.send('param set AVOID_ENABLE 0\n')
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("AVOID_ENABLE", 0)
# first east
self.progress("turn east")
@ -516,7 +516,7 @@ class AutoTestCopter(AutoTest):
pitching_forward = False
self.set_rc(2, 1500)
# disable fence
self.mavproxy.send('param set FENCE_ENABLE 0\n')
self.set_parameter("FENCE_ENABLE", 0)
if alt <= 1 and home_distance < 10:
# reduce throttle
self.set_rc(3, 1000)
@ -538,8 +538,8 @@ class AutoTestCopter(AutoTest):
return
# disable fence, enable avoidance
self.mavproxy.send('param set FENCE_ENABLE 0\n')
self.mavproxy.send('param set AVOID_ENABLE 1\n')
self.set_parameter("FENCE_ENABLE", 0)
self.set_parameter("AVOID_ENABLE", 1)
# reduce throttle
self.set_rc(3, 1000)
@ -559,9 +559,9 @@ class AutoTestCopter(AutoTest):
self.wait_mode('LOITER')
# enable fence, disable avoidance
self.set_parameter('FENCE_ENABLE', 1)
self.set_parameter('AVOID_ENABLE', 0)
self.set_parameter('FENCE_TYPE', 1)
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_TYPE", 1)
self.change_alt(10)
@ -665,8 +665,8 @@ class AutoTestCopter(AutoTest):
if glitch_current >= glitch_num:
glitch_current = -1
self.progress("Completed Glitches")
self.mavproxy.send('param set SIM_GPS_GLITCH_X 0\n')
self.mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
else:
self.progress("Applying glitch %u" % glitch_current)
# move onto the next glitch
@ -691,8 +691,8 @@ class AutoTestCopter(AutoTest):
# disable gps glitch
if glitch_current != -1:
glitch_current = -1
self.mavproxy.send('param set SIM_GPS_GLITCH_X 0\n')
self.mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
if self.use_map:
self.show_gps_and_sim_positions(False)
@ -779,8 +779,8 @@ class AutoTestCopter(AutoTest):
# turn off glitching
self.progress("Completed Glitches")
self.mavproxy.send('param set SIM_GPS_GLITCH_X 0\n')
self.mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
# continue with the mission
self.wait_waypoint(0, num_wp-1, timeout=500)
@ -816,7 +816,7 @@ class AutoTestCopter(AutoTest):
self.wait_mode('LOITER')
# set SIMPLE mode for all flight modes
self.mavproxy.send('param set SIMPLE 63\n')
self.set_parameter("SIMPLE", 63)
# switch to stabilize mode
self.mavproxy.send('switch 6\n')
@ -852,7 +852,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(2, 1500)
# restore to default
self.mavproxy.send('param set SIMPLE 0\n')
self.set_parameter("SIMPLE", 0)
# hover in place
self.hover()
@ -871,7 +871,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(2, 1500)
# set SUPER SIMPLE mode for all flight modes
self.mavproxy.send('param set SUPER_SIMPLE 63\n')
self.set_parameter("SUPER_SIMPLE", 63)
# switch to stabilize mode
self.mavproxy.send('switch 6\n')
@ -894,7 +894,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(4, 1500)
# restore simple mode parameters to default
self.mavproxy.send('param set SUPER_SIMPLE 0\n')
self.set_parameter("SUPER_SIMPLE", 0)
# hover in place
self.hover()
@ -912,7 +912,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(4, 1500)
# set CIRCLE radius
self.mavproxy.send('param set CIRCLE_RADIUS 3000\n')
self.set_parameter("CIRCLE_RADIUS", 3000)
# fly forward (east) at least 100m
self.set_rc(2, 1100)

2
Tools/autotest/ardusub.py
View File

@ -140,7 +140,7 @@ class AutoTestSub(AutoTest):
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.mav.wait_heartbeat()
self.mavproxy.send('param set FS_GCS_ENABLE 0\n')
self.set_parameter("FS_GCS_ENABLE", 0)
self.progress("Waiting for GPS fix")
self.mav.wait_gps_fix()