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Tools: autotest changes after Auto behaviour change on completion

This commit is contained in:
Peter Barker 2019-10-13 09:09:32 +09:00 committed by Andrew Tridgell
parent 8d181faca6
commit 78a2e55cbe
1 changed files with 10 additions and 15 deletions
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25
Tools/autotest/apmrover2.py
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@ -314,7 +314,7 @@ class AutoTestRover(AutoTest):
self.set_rc(3, 1500)
self.wait_mode('AUTO')
self.wait_waypoint(1, 4, max_dist=5)
self.wait_mode('HOLD', timeout=300)
self.mavproxy.expect("Mission Complete")
self.disarm_vehicle()
self.progress("Mission OK")
@ -325,7 +325,7 @@ class AutoTestRover(AutoTest):
self.arm_vehicle()
self.mavproxy.expect("Gripper Grabbed")
self.mavproxy.expect("Gripper Released")
self.wait_mode("HOLD")
self.mavproxy.expect("Mission Complete")
self.disarm_vehicle()
def do_get_banner(self):
@ -444,14 +444,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" %
(m.wp_dist, wp_dist_min,))
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 600:
raise NotAchievedException("Did not get home")
self.progress("Distance home: %f (mode=%s)" %
(self.distance_to_home(), self.mav.flightmode))
if self.mode_is('HOLD') or self.mode_is('ACRO'): # acro for balancebot
break
# wait for mission to complete
self.mavproxy.expect("Mission Complete")
# the EKF doesn't pull us down to 0 speed:
self.wait_groundspeed(0, 0.5, timeout=600)
@ -2021,9 +2015,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
magic_waypoint_tstart = 0
magic_waypoint_tstop = 0
while True:
if self.mode_is("HOLD", cached=True):
break
now = self.get_sim_time_cached()
if now - last_heartbeat_sent > 1:
last_heartbeat_sent = now
@ -2036,10 +2027,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if now - tstart > timeout:
raise AutoTestTimeoutException("Didn't complete")
magic_waypoint = 3
# mc = self.mav.messages.get("MISSION_CURRENT", None)
mc = self.mav.recv_match(type="MISSION_CURRENT", blocking=False)
mc = self.mav.recv_match(type=["MISSION_CURRENT", "STATUSTEXT"],
blocking=False)
if mc is not None:
print("%s" % str(mc))
if mc.get_type() == "STATUSTEXT":
if "Mission Complete" in mc.text:
break
continue
if mc.seq == magic_waypoint:
print("At magic waypoint")
if magic_waypoint_tstart == 0: