From 6e91ae554ab737513f8e3a7d223a13af7b0893f1 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Wed, 26 Jan 2022 14:20:18 -0300
Subject: [PATCH] Tools: use relative paths for parameter files

---
 Tools/autotest/common.py      | 4 ++--
 Tools/autotest/pysim/util.py  | 7 ++++---
 Tools/autotest/sim_vehicle.py | 3 ++-
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index a4b7ba5de7..4e7a90357f 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -1658,7 +1658,7 @@ class AutoTest(ABC):
         if self.params is None:
             self.params = self.model_defaults_filepath(self.frame)
         for x in self.params:
-            self.repeatedly_apply_parameter_file(os.path.join(testdir, x))
+            self.repeatedly_apply_parameter_file(x)
 
     def count_lines_in_filepath(self, filepath):
         return len([i for i in open(filepath)])
@@ -11695,7 +11695,7 @@ switch value'''
             defaults_filepath = [defaults_filepath]
         defaults_list = []
         for d in defaults_filepath:
-            defaults_list.append(os.path.join(testdir, d))
+            defaults_list.append(util.reltopdir(os.path.join(testdir, d)))
         return defaults_list
 
     def load_default_params_file(self, filename):
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index 98f9a8c4d3..517edf1c34 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -408,10 +408,11 @@ def start_SITL(binary,
             cmd.extend(['--speedup', str(speedup)])
         if defaults_filepath is not None:
             if type(defaults_filepath) == list:
-                if len(defaults_filepath):
-                    cmd.extend(['--defaults', ",".join(defaults_filepath)])
+                defaults = [reltopdir(path) for path in defaults_filepath]
+                if len(defaults):
+                    cmd.extend(['--defaults', ",".join(defaults)])
             else:
-                cmd.extend(['--defaults', defaults_filepath])
+                cmd.extend(['--defaults', reltopdir(defaults_filepath)])
         if unhide_parameters:
             cmd.extend(['--unhide-groups'])
         # somewhere for MAVProxy to connect to:
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index acbdffb195..256b6ebeda 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -28,6 +28,7 @@ import shlex
 import binascii
 import math
 
+from pysim import util
 from pysim import vehicleinfo
 
 
@@ -683,7 +684,7 @@ def start_vehicle(binary, opts, stuff, spawns=None):
         paths = stuff["default_params_filename"]
         if not isinstance(paths, list):
             paths = [paths]
-        paths = [os.path.join(autotest_dir, x) for x in paths]
+        paths = [util.reltopdir(os.path.join(autotest_dir, x)) for x in paths]
         for x in paths:
             if not os.path.isfile(x):
                 print("The parameter file (%s) does not exist" % (x,))