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autotest: don't use self.mav.motors_disarmed_wait as it blocks forever

This commit is contained in:
Peter Barker 2020-03-13 10:51:17 +11:00 committed by Peter Barker
parent 9ae6633a08
commit 92d2186b95
5 changed files with 88 additions and 68 deletions
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2
Tools/autotest/apmrover2.py
View File

@ -4312,7 +4312,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.progress("Waiting for magic throttle value")
self.wait_servo_channel_value(3, magic_throttle_value)
self.wait_servo_channel_value(3, self.get_parameter("RC3_TRIM", 5), timeout=10)
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def test_poly_fence_object_avoidance_guided(self, target_system=1, target_component=1):
if not self.mavproxy_can_do_mision_item_protocols():

101
Tools/autotest/arducopter.py
View File

@ -80,6 +80,9 @@ class AutoTestCopter(AutoTest):
def uses_vicon(self):
return True
def wait_disarmed_default_wait_time(self):
return 120
def close(self):
super(AutoTestCopter, self).close()
@ -149,7 +152,7 @@ class AutoTestCopter(AutoTest):
self.change_mode("LAND")
self.wait_altitude(-5, 1, relative=True, timeout=timeout)
self.progress("LANDING: ok!")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def hover(self, hover_throttle=1500):
self.set_rc(3, hover_throttle)
@ -396,7 +399,7 @@ class AutoTestCopter(AutoTest):
self.wait_waypoint(0, num_wp-1, timeout=500)
self.progress("test: MISSION COMPLETE: passed!")
self.change_mode('LAND')
self.mav.motors_disarmed_wait()
self.wait_disarmed()
# enter RTL mode and wait for the vehicle to disarm
def do_RTL(self, timeout=250):
@ -437,7 +440,7 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl()
self.load_mission("copter_loiter_to_alt.txt")
num_wp = self.load_mission("copter_loiter_to_alt.txt")
self.mavproxy.send('switch 5\n')
self.wait_mode('LOITER')
@ -455,7 +458,9 @@ class AutoTestCopter(AutoTest):
self.set_rc(3, 1500)
self.mav.motors_disarmed_wait()
self.wait_waypoint(0, num_wp-1, timeout=500)
self.wait_disarmed()
except Exception as e:
ex = e
@ -507,7 +512,7 @@ class AutoTestCopter(AutoTest):
self.start_subtest("Radio failsafe RTL with no options test: FS_THR_ENABLE=1 & FS_OPTIONS=0")
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe RTL with no options test")
@ -517,7 +522,7 @@ class AutoTestCopter(AutoTest):
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe LAND with no options test")
@ -527,7 +532,7 @@ class AutoTestCopter(AutoTest):
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL->RTL with no options test")
@ -537,7 +542,7 @@ class AutoTestCopter(AutoTest):
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL_Land with no options test")
@ -549,7 +554,7 @@ class AutoTestCopter(AutoTest):
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
@ -563,7 +568,7 @@ class AutoTestCopter(AutoTest):
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
@ -577,7 +582,7 @@ class AutoTestCopter(AutoTest):
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
@ -594,7 +599,7 @@ class AutoTestCopter(AutoTest):
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL->RTL fails into RTL mode due to no path.")
@ -609,7 +614,7 @@ class AutoTestCopter(AutoTest):
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL->LAND fails into land mode due to no path.")
@ -628,7 +633,7 @@ class AutoTestCopter(AutoTest):
self.change_mode("ALT_HOLD")
self.setGCSfailsafe(0)
# self.change_mode("RTL")
# self.mav.motors_disarmed_wait()
# self.wait_disarmed()
self.end_subtest("Completed Radio failsafe with option to continue in guided mode")
# Trigger an RC failure in AUTO mode with the option enabled to continue the mission. Verify no failsafe action takes place
@ -647,7 +652,7 @@ class AutoTestCopter(AutoTest):
self.delay_sim_time(5)
self.wait_mode("AUTO")
# self.change_mode("RTL")
# self.mav.motors_disarmed_wait()
# self.wait_disarmed()
self.end_subtest("Completed Radio failsafe RTL with option to continue mission")
# Trigger an RC failure in AUTO mode without the option enabled to continue. Verify failsafe triggers and RTL completes
@ -655,7 +660,7 @@ class AutoTestCopter(AutoTest):
self.set_parameter('FS_OPTIONS', 0)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.clear_mission_using_mavproxy()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe RTL in mission without option to continue")
@ -692,7 +697,7 @@ class AutoTestCopter(AutoTest):
self.start_subtest("GCS failsafe RTL with no options test: FS_GCS_ENABLE=1 & FS_OPTIONS=0")
self.set_heartbeat_interval(0)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe RTL with no options test")
@ -703,7 +708,7 @@ class AutoTestCopter(AutoTest):
self.takeoffAndMoveAway()
self.set_heartbeat_interval(0)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe land with no options test")
@ -714,7 +719,7 @@ class AutoTestCopter(AutoTest):
self.takeoffAndMoveAway()
self.set_heartbeat_interval(0)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe SmartRTL->RTL with no options test")
@ -725,7 +730,7 @@ class AutoTestCopter(AutoTest):
self.takeoffAndMoveAway()
self.set_heartbeat_interval(0)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe SmartRTL->Land with no options test")
@ -736,7 +741,7 @@ class AutoTestCopter(AutoTest):
self.takeoffAndMoveAway()
self.set_heartbeat_interval(0)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe invalid value with no options test")
@ -776,7 +781,7 @@ class AutoTestCopter(AutoTest):
self.mavproxy.expect("GCS Failsafe - Continuing Landing")
self.delay_sim_time(5)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe with option bits")
@ -809,7 +814,7 @@ class AutoTestCopter(AutoTest):
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.change_mode("RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed Batt failsafe disabled test")
@ -829,7 +834,7 @@ class AutoTestCopter(AutoTest):
self.mavproxy.expect("Battery 1 is critical")
self.delay_sim_time(5)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed two stage battery failsafe test with RTL and Land")
@ -850,7 +855,7 @@ class AutoTestCopter(AutoTest):
self.mavproxy.expect("Battery 1 is critical")
self.delay_sim_time(5)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed two stage battery failsafe test with SmartRTL")
@ -865,7 +870,7 @@ class AutoTestCopter(AutoTest):
self.mavproxy.expect("Battery 1 is low")
self.delay_sim_time(5)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed battery failsafe with FS_OPTIONS set to continue landing")
@ -885,7 +890,7 @@ class AutoTestCopter(AutoTest):
self.set_parameter("SIM_RC_FAIL", 1)
self.delay_sim_time(10)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.set_parameter("SIM_RC_FAIL", 0)
self.mavproxy.send('reboot\n')
@ -898,7 +903,7 @@ class AutoTestCopter(AutoTest):
self.delay_sim_time(10)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.mavproxy.expect("Battery 1 is low")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.end_subtest("Completed terminate failsafe test")
self.progress("All Battery failsafe tests complete")
@ -1168,7 +1173,7 @@ class AutoTestCopter(AutoTest):
self.zero_throttle()
self.change_mode("LAND")
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.progress("Reached home OK")
self.zero_throttle()
return
@ -1211,7 +1216,7 @@ class AutoTestCopter(AutoTest):
self.wait_mode('RTL', timeout=120)
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.zero_throttle()
@ -1413,7 +1418,7 @@ class AutoTestCopter(AutoTest):
self.show_gps_and_sim_positions(False)
self.progress("GPS Glitch test Auto completed: passed!")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
# re-arming is problematic because the GPS is glitching!
self.reboot_sitl()
@ -1601,7 +1606,7 @@ class AutoTestCopter(AutoTest):
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.set_parameter('SIM_SPEEDUP', old_speedup)
self.change_mode('RTL')
self.mav.motors_disarmed_wait()
self.wait_disarmed()
except Exception as e:
ex = e
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 0)
@ -1687,7 +1692,7 @@ class AutoTestCopter(AutoTest):
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# near enough for now:
self.change_mode('LAND')
self.mav.motors_disarmed_wait()
self.wait_disarmed()
return
raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
@ -1720,7 +1725,7 @@ class AutoTestCopter(AutoTest):
self.zero_throttle()
# wait for disarm
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.progress("MOTORS DISARMED OK")
self.progress("Auto mission completed: passed!")
@ -2021,7 +2026,7 @@ class AutoTestCopter(AutoTest):
self.wait_groundspeed(wpnav_speed_ms-tolerance, wpnav_speed_ms+tolerance)
self.monitor_groundspeed(wpnav_speed_ms, timeout=5)
self.change_mode('RTL')
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def fly_nav_delay(self):
"""Fly a simple mission that has a delay in it."""
@ -2322,7 +2327,7 @@ class AutoTestCopter(AutoTest):
self.zero_throttle()
self.takeoff(10, 1800)
self.change_mode("LAND")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
new_pos = self.mav.location()
delta = self.get_distance(target, new_pos)
@ -3030,7 +3035,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(3, 1500)
self.wait_text("Gripper load releas", timeout=90)
self.mav.motors_disarmed_wait()
self.wait_disarmed()
except Exception as e:
self.progress("Exception caught: %s" % (
@ -3096,7 +3101,7 @@ class AutoTestCopter(AutoTest):
self.mavproxy.send('mode land\n')
ex = e
self.context_pop()
self.mav.motors_disarmed_wait()
self.wait_disarmed()
if ex is not None:
raise ex
@ -3118,7 +3123,7 @@ class AutoTestCopter(AutoTest):
ex = e
self.context_pop()
self.do_RTL()
self.mav.motors_disarmed_wait()
self.wait_disarmed()
if ex is not None:
raise ex
@ -3143,7 +3148,7 @@ class AutoTestCopter(AutoTest):
want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED) # should fix this result code!
self.set_rc(3, 1000)
self.run_cmd_do_set_mode("ACRO")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def test_mount_pitch(self, despitch, despitch_tolerance, timeout=10, hold=0):
tstart = self.get_sim_time()
@ -3617,7 +3622,7 @@ class AutoTestCopter(AutoTest):
self.wait_ready_to_arm()
self.arm_vehicle()
try:
self.set_parameter("SIM_SHOVE_TIME", 500)
self.set_parameter("SIM_SHOVE_TIME", 500, retries=3)
except ValueError as e:
# the shove resets this to zero
pass
@ -3627,7 +3632,7 @@ class AutoTestCopter(AutoTest):
max_good_tdelta = 15
tdelta = self.get_sim_time() - tstart
self.progress("Vehicle in RTL")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.progress("Vehicle disarmed")
if tdelta > max_good_tdelta:
raise NotAchievedException("Took too long to enter RTL: %fs > %fs" %
@ -4072,7 +4077,7 @@ class AutoTestCopter(AutoTest):
self.fly_guided_move_to(low_position, timeout=240)
self.change_mode('LAND')
# expecting home to change when disarmed
self.mav.motors_disarmed_wait()
self.wait_disarmed()
# wait a while for home to move (it shouldn't):
self.delay_sim_time(10)
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
@ -4110,7 +4115,7 @@ class AutoTestCopter(AutoTest):
"Home moved too far vertically on arming: want>=%f got=%f" %
(max_post_arming_home_offset_delta_mm, delta_between_original_home_alt_offset_and_new_home_alt_offset_mm))
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def fly_precision_companion(self):
@ -4257,7 +4262,7 @@ class AutoTestCopter(AutoTest):
self.mavproxy.send('mode LAND\n')
self.wait_mode('LAND')
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_rc(8, 1000)
self.context_pop()
@ -5012,7 +5017,7 @@ class AutoTestHeli(AutoTestCopter):
self.zero_throttle()
# wait for disarm
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.progress("MOTORS DISARMED OK")
self.progress("Lowering rotor speed")
@ -5070,7 +5075,7 @@ class AutoTestHeli(AutoTestCopter):
self.mavproxy.send('mode LAND\n')
self.wait_mode('LAND')
self.mav.motors_disarmed_wait()
self.wait_disarmed()
self.set_rc(8, 1000)
self.context_pop()
@ -5126,7 +5131,7 @@ class AutoTestHeli(AutoTestCopter):
speed = float(self.mavproxy.match.group(1))
if speed > 30:
raise NotAchievedException("Hit too hard")
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def set_rc_default(self):
super(AutoTestHeli, self).set_rc_default()

18
Tools/autotest/arduplane.py
View File

@ -591,9 +591,9 @@ class AutoTestPlane(AutoTest):
self.disarm_wait(timeout=120)
self.progress("Flying home")
self.takeoff(10)
self.takeoff(100)
self.set_parameter("LAND_TYPE", 0)
self.fly_home_land_and_disarm()
self.fly_home_land_and_disarm(timeout=240)
def fly_do_change_speed(self):
# the following lines ensure we revert these parameter values
@ -678,13 +678,16 @@ class AutoTestPlane(AutoTest):
break
self.fly_home_land_and_disarm()
def fly_home_land_and_disarm(self):
def fly_home_land_and_disarm(self, timeout=120):
filename = os.path.join(testdir, "flaps.txt")
self.progress("Using %s to fly home" % filename)
self.load_mission(filename)
num_wp = self.load_mission(filename)
self.change_mode("AUTO")
self.mavproxy.send('wp set 7\n')
self.mav.motors_disarmed_wait()
self.drain_mav()
# TODO: reflect on file to find this magic waypoint number?
# self.wait_waypoint(7, num_wp-1, timeout=500) # we tend to miss the final waypoint by a fair bit, and this is probably too noisy anyway?
self.wait_disarmed(timeout=timeout)
def fly_flaps(self):
"""Test flaps functionality."""
@ -1308,7 +1311,7 @@ class AutoTestPlane(AutoTest):
if m is not None:
raise NotAchievedException("Got autocal on ground")
mission_filepath = os.path.join(testdir, "flaps.txt")
self.load_mission(mission_filepath)
num_wp = self.load_mission(mission_filepath)
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode("AUTO")
@ -1316,7 +1319,8 @@ class AutoTestPlane(AutoTest):
m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
blocking=True,
timeout=5)
self.mav.motors_disarmed_wait()
self.wait_waypoint(7, num_wp-1, timeout=500)
self.wait_disarmed(timeout=120)
def sample_enable_parameter(self):
return "Q_ENABLE"

23
Tools/autotest/common.py
View File

@ -1723,7 +1723,6 @@ class AutoTest(ABC):
p2 = 0
if force:
p2 = 21196 # magic force disarm value
tstart = self.get_sim_time()
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
0, # DISARM
p2,
@ -1733,12 +1732,25 @@ class AutoTest(ABC):
0,
0,
timeout=timeout)
while self.get_sim_time_cached() - tstart < timeout:
return self.wait_disarmed()
def wait_disarmed_default_wait_time(self):
return 30
def wait_disarmed(self, timeout=None):
if timeout is None:
timeout = self.wait_disarmed_default_wait_time()
self.progress("Waiting for DISARM")
tstart = self.get_sim_time()
while True:
delta = self.get_sim_time_cached() - tstart
if delta > timeout:
raise AutoTestTimeoutException("Failed to DISARM")
self.wait_heartbeat()
if not self.mav.motors_armed():
self.progress("Motors DISARMED")
self.progress("DISARMED after %.2f seconds (allowed=%.2f)" %
(delta, timeout))
return True
raise AutoTestTimeoutException("Failed to DISARM with mavlink")
def mavproxy_arm_vehicle(self):
"""Arm vehicle with mavlink arm message send from MAVProxy."""
@ -1752,8 +1764,7 @@ class AutoTest(ABC):
"""Disarm vehicle with mavlink disarm message send from MAVProxy."""
self.progress("Disarm motors with MavProxy")
self.mavproxy.send('disarm\n')
self.mav.motors_disarmed_wait()
self.progress("DISARMED")
self.wait_disarmed()
return True
def arm_motors_with_rc_input(self, timeout=20):

12
Tools/autotest/quadplane.py
View File

@ -126,14 +126,14 @@ class AutoTestQuadPlane(AutoTest):
self.wait_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
self.mav.motors_disarmed_wait()
self.wait_disarmed(timeout=120) # give quadplane a long time to land
# wait for blood sample here
self.mavproxy.send('wp set 20\n')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
self.mav.motors_disarmed_wait()
self.wait_disarmed(timeout=120) # give quadplane a long time to land
self.progress("Mission OK")
def fly_qautotune(self):
@ -170,7 +170,7 @@ class AutoTestQuadPlane(AutoTest):
except AutoTestTimeoutException as e:
continue
break
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def takeoff(self, height, mode):
self.change_mode(mode)
@ -186,7 +186,7 @@ class AutoTestQuadPlane(AutoTest):
def do_RTL(self):
self.change_mode("QRTL")
self.wait_altitude(-5, 1, relative=True, timeout=60)
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def fly_home_land_and_disarm(self):
self.set_parameter("LAND_TYPE", 0)
@ -195,7 +195,7 @@ class AutoTestQuadPlane(AutoTest):
self.load_mission(filename)
self.change_mode("AUTO")
self.mavproxy.send('wp set 7\n')
self.mav.motors_disarmed_wait()
self.wait_disarmed()
def wait_level_flight(self, accuracy=5, timeout=30):
"""Wait for level flight."""
@ -372,7 +372,7 @@ class AutoTestQuadPlane(AutoTest):
self.mavproxy.send('mode AUTO\n')
self.wait_mode('AUTO')
self.wait_waypoint(1, 7, max_dist=60, timeout=1200)
self.mav.motors_disarmed_wait()
self.wait_disarmed(timeout=120) # give quadplane a long time to land
# prevent update parameters from messing with the settings when we pop the context
self.set_parameter("FFT_ENABLE", 0)