diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index b1888f668f..0393c15196 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -194,8 +194,8 @@ class AutoTestCopter(AutoTest): self.progress("Cotper staging 50 meters east of home at 50 meters altitude In mode Alt Hold") # Start and stop the GCS heartbeat for GCS failsafe testing - def set_heartbeat_interval(self, interval): - self.mavproxy.send('set heartbeat %u\n' % interval) + def set_heartbeat_rate(self, rate): + self.mavproxy.send('set heartbeat %u\n' % rate) # loiter - fly south west, then loiter within 5m position and altitude def loiter(self, holdtime=10, maxaltchange=5, maxdistchange=5): @@ -676,10 +676,10 @@ class AutoTestCopter(AutoTest): self.start_subtest("GCS failsafe disabled test: FS_GCS_ENABLE=0 should take no failsafe action") self.setGCSfailsafe(0) self.takeoffAndMoveAway() - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.delay_sim_time(5) self.wait_mode("ALT_HOLD") - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.delay_sim_time(5) self.wait_mode("ALT_HOLD") self.end_subtest("Completed GCS failsafe disabled test") @@ -687,19 +687,19 @@ class AutoTestCopter(AutoTest): # Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers to RTL. Restory telemety, verify failsafe clears, and change modes. self.start_subtest("GCS failsafe recovery test") self.setGCSfailsafe(1) - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.wait_mode("RTL") - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.change_mode("LOITER") self.end_subtest("Completed GCS failsafe recovery test") # Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers and RTL completes self.start_subtest("GCS failsafe RTL with no options test: FS_GCS_ENABLE=1 & FS_OPTIONS=0") - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.wait_mode("RTL") self.wait_disarmed() - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.end_subtest("Completed GCS failsafe RTL with no options test") @@ -707,10 +707,10 @@ class AutoTestCopter(AutoTest): self.start_subtest("GCS failsafe LAND with no options test: FS_GCS_ENABLE=5 & FS_OPTIONS=0") self.setGCSfailsafe(5) self.takeoffAndMoveAway() - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.wait_mode("LAND") self.wait_disarmed() - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.end_subtest("Completed GCS failsafe land with no options test") @@ -718,10 +718,10 @@ class AutoTestCopter(AutoTest): self.start_subtest("GCS failsafe SmartRTL->RTL with no options test: FS_GCS_ENABLE=3 & FS_OPTIONS=0") self.setGCSfailsafe(3) self.takeoffAndMoveAway() - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.wait_mode("SMART_RTL") self.wait_disarmed() - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.end_subtest("Completed GCS failsafe SmartRTL->RTL with no options test") @@ -729,10 +729,10 @@ class AutoTestCopter(AutoTest): self.start_subtest("GCS failsafe SmartRTL->Land with no options test: FS_GCS_ENABLE=4 & FS_OPTIONS=0") self.setGCSfailsafe(4) self.takeoffAndMoveAway() - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.wait_mode("SMART_RTL") self.wait_disarmed() - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.end_subtest("Completed GCS failsafe SmartRTL->Land with no options test") @@ -740,10 +740,10 @@ class AutoTestCopter(AutoTest): self.start_subtest("GCS failsafe invalid value with no options test: FS_GCS_ENABLE=99 & FS_OPTIONS=0") self.setGCSfailsafe(99) self.takeoffAndMoveAway() - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.wait_mode("RTL") self.wait_disarmed() - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.end_subtest("Completed GCS failsafe invalid value with no options test") @@ -756,34 +756,34 @@ class AutoTestCopter(AutoTest): self.set_parameter('FS_OPTIONS', 16) self.takeoffAndMoveAway() self.progress("Testing continue in pilot controlled modes") - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.mavproxy.expect("GCS Failsafe - Continuing Pilot Control") self.delay_sim_time(5) self.wait_mode("ALT_HOLD") - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.progress("Testing continue in auto mission") self.set_parameter('FS_OPTIONS', 2) self.change_mode("AUTO") self.delay_sim_time(5) - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.mavproxy.expect("GCS Failsafe - Continuing Auto Mode") self.delay_sim_time(5) self.wait_mode("AUTO") - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.progress("Testing continue landing in land mode") self.set_parameter('FS_OPTIONS', 8) self.change_mode("LAND") self.delay_sim_time(5) - self.set_heartbeat_interval(0) + self.set_heartbeat_rate(0) self.mavproxy.expect("GCS Failsafe - Continuing Landing") self.delay_sim_time(5) self.wait_mode("LAND") self.wait_disarmed() - self.set_heartbeat_interval(self.speedup) + self.set_heartbeat_rate(self.speedup) self.mavproxy.expect("GCS Failsafe Cleared") self.end_subtest("Completed GCS failsafe with option bits")