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Tools: autotest: tidy and fix nav-delay test

This commit is contained in:
Peter Barker 2018-08-16 09:44:32 +10:00 committed by Peter Barker
parent 5988c3258f
commit 680f78869d
1 changed files with 69 additions and 51 deletions
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46
Tools/autotest/arducopter.py
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@ -1359,13 +1359,20 @@ class AutoTestCopter(AutoTest):
# retrieve mission item and check it: # retrieve mission item and check it:
tried_set = False tried_set = False
while True: while True:
self.progress("Requesting item")
self.mav.mav.mission_request_send(1,
1,
seq
)
st = self.mav.recv_match(type='MISSION_ITEM', st = self.mav.recv_match(type='MISSION_ITEM',
blocking=True, blocking=True,
timeout=1) timeout=1)
if st is not None: if st is None:
continue
print("Item: %s" % str(st)) print("Item: %s" % str(st))
if (tried_set and if (tried_set and
st.seq == 3 and st.seq == seq and
st.command == command and st.command == command and
st.param2 == hours and st.param2 == hours and
st.param3 == mins and st.param3 == mins and
@ -1373,18 +1380,30 @@ class AutoTestCopter(AutoTest):
return return
self.progress("Mission mismatch") self.progress("Mission mismatch")
m = None
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 3:
raise NotAchievedException()
self.mav.mav.mission_write_partial_list_send(1, self.mav.mav.mission_write_partial_list_send(1,
1, 1,
3, seq,
3) seq)
m = self.mav.messages.get("MISSION_REQUEST", None) m = self.mav.recv_match(type='MISSION_REQUEST',
if m is not None: blocking=True,
if m.seq == 3: timeout=1)
if m is None:
continue
if m.seq != st.seq:
continue
break
self.progress("Sending absolute-time mission item") self.progress("Sending absolute-time mission item")
# we have to change out the delay time... # we have to change out the delay time...
now = self.mav.recv_match(type='SYSTEM_TIME', now = self.mav.messages["SYSTEM_TIME"]
blocking=True) if now is None:
raise PreconditionFailedException()
if now.time_unix_usec == 0: if now.time_unix_usec == 0:
raise PreconditionFailedException() raise PreconditionFailedException()
(hours, mins, secs, ms) = self.calc_delay( (hours, mins, secs, ms) = self.calc_delay(
@ -1409,11 +1428,10 @@ class AutoTestCopter(AutoTest):
0, # p6 0, # p6
0) # p7 0) # p7
tried_set = True tried_set = True
self.progress("Requesting item") ack = self.mav.recv_match(type='MISSION_ACK',
self.mav.mav.mission_request_send(1, blocking=True,
1, timeout=1)
3 self.progress("Received ack: %s" % str(ack))
)
def fly_nav_delay_abstime(self): def fly_nav_delay_abstime(self):
'''fly a simple mission that has a delay in it''' '''fly a simple mission that has a delay in it'''