autotest: adjust current wp reset

Tools/autotest/arduplane.py

@@ -590,6 +590,7 @@ class AutoTestPlane(AutoTest):
         self.disarm_wait(timeout=120)
 
         self.progress("Flying home")
+        self.set_current_waypoint(0, check_afterwards=False)
         self.takeoff(10)
         self.set_parameter("LAND_TYPE", 0)
         self.fly_home_land_and_disarm()
@@ -617,6 +618,7 @@ class AutoTestPlane(AutoTest):
         self.set_current_waypoint(0, check_afterwards=False)
 
         self.progress("Flying home")
+        self.set_current_waypoint(0, check_afterwards=False)
         self.takeoff(100)
         self.set_parameter("LAND_TYPE", 0)
         self.fly_home_land_and_disarm(timeout=240)
@@ -750,7 +752,6 @@ class AutoTestPlane(AutoTest):
         #        tend to miss the final waypoint by a fair bit, and
         #        this is probably too noisy anyway?
         self.wait_disarmed(timeout=timeout)
-        self.set_current_waypoint(0, check_afterwards=False)
 
     def fly_flaps(self):
         """Test flaps functionality."""
@@ -1775,6 +1776,8 @@ class AutoTestPlane(AutoTest):
             )
 
         self.fly_home_land_and_disarm()
+        self.set_current_waypoint(0, check_afterwards=False)
+
         self.change_mode("MANUAL")
         self.set_rc(3, 1000)
 

Tools/autotest/common.py

@@ -3692,7 +3692,13 @@ class AutoTest(ABC):
             wp.z)
         return wp_int
 
-    def load_mission_from_filepath(self, filepath, filename, target_system=1, target_component=1, strict=True):
+    def load_mission_from_filepath(self,
+                                   filepath,
+                                   filename,
+                                   target_system=1,
+                                   target_component=1,
+                                   strict=True,
+                                   reset_current_wp=True):
         self.progress("Loading mission (%s)" % filename)
         path = os.path.join(testdir, filepath, filename)
         wploader = mavwp.MAVWPLoader(
@@ -3702,6 +3708,11 @@ class AutoTest(ABC):
         wploader.load(path)
         wpoints_int = [self.wp_to_mission_item_int(x) for x in wploader.wpoints]
         self.check_mission_upload_download(wpoints_int, strict=strict)
+        if reset_current_wp:
+            # ArduPilot doesn't reset the current waypoint by default
+            # we may be in auto mode and running waypoints, so we
+            # can't check the current waypoint after resetting it.
+            self.set_current_waypoint(0, check_afterwards=False)
         return len(wpoints_int)
 
     def load_mission_using_mavproxy(self, mavproxy, filename):
@@ -6542,6 +6553,8 @@ Also, ignores heartbeats not from our target system'''
         try:
             self.check_rc_defaults()
             self.change_mode(self.default_mode())
+            # ArduPilot can still move the current waypoint from 0,
+            # even if we are not in AUTO mode, so cehck_afterwards=False:
             self.set_current_waypoint(0, check_afterwards=False)
             self.drain_mav()
             self.drain_all_pexpects()
@@ -6660,6 +6673,7 @@ Also, ignores heartbeats not from our target system'''
 
         if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling
             self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
+            self.set_current_waypoint(0, check_afterwards=False)
 
         tee.close()