Tools: autotest: use reboot to apply parameter changes; avoid sim restart

Previously we stopped the simulation to ensure parameter changes are
applied to the simulated vehicle.  We can now reboot the simulated
autopilot, so these patches make use of those changes.

One big advantage is that the --gdb option is in play for the applying
of the parameters to the vehicle.

Tools/autotest/apmrover2.py

@@ -62,15 +62,14 @@ class AutoTestRover(AutoTest):
         if self.frame is None:
             self.frame = 'rover'
 
-        self.apply_parameters_using_sitl()
-
         self.sitl = util.start_SITL(self.binary,
                                     model=self.frame,
                                     home=self.home,
                                     speedup=self.speedup,
                                     valgrind=self.valgrind,
                                     gdb=self.gdb,
-                                    gdbserver=self.gdbserver)
+                                    gdbserver=self.gdbserver,
+                                    wipe=True)
         self.mavproxy = util.start_MAVProxy_SITL(
             'APMrover2', options=self.mavproxy_options())
         self.mavproxy.expect('Telemetry log: (\S+)\r\n')
@@ -86,6 +85,7 @@ class AutoTestRover(AutoTest):
         except Exception:
             pass
 
+        self.progress("WAITING FOR PARAMETERS")
         self.mavproxy.expect('Received [0-9]+ parameters')
 
         util.expect_setup_callback(self.mavproxy, self.expect_callback)
@@ -107,6 +107,9 @@ class AutoTestRover(AutoTest):
         self.mav.message_hooks.append(self.message_hook)
         self.mav.idle_hooks.append(self.idle_hook)
         self.hasInit = True
+
+        self.apply_defaultfile_parameters()
+
         self.progress("Ready to start testing!")
 
     # def reset_and_arm(self):

Tools/autotest/arducopter.py

@@ -84,17 +84,17 @@ class AutoTestCopter(AutoTest):
                                          AVCHOME.alt,
                                          AVCHOME.heading)
 
-        self.apply_parameters_using_sitl()
-
         self.sitl = util.start_SITL(self.binary,
                                     model=self.frame,
                                     home=self.home,
                                     speedup=self.speedup,
                                     valgrind=self.valgrind,
                                     gdb=self.gdb,
-                                    gdbserver=self.gdbserver)
+                                    gdbserver=self.gdbserver,
+                                    wipe=True)
         self.mavproxy = util.start_MAVProxy_SITL(
             'ArduCopter', options=self.mavproxy_options())
+
         self.mavproxy.expect('Telemetry log: (\S+)\r\n')
         self.logfile = self.mavproxy.match.group(1)
         self.progress("LOGFILE %s" % self.logfile)
@@ -112,8 +112,11 @@ class AutoTestCopter(AutoTest):
                           (self.logfile, self.buildlog))
             self.copy_tlog = True
 
+        self.progress("WAITING FOR PARAMETERS")
         self.mavproxy.expect('Received [0-9]+ parameters')
 
+        self.apply_defaultfile_parameters()
+
         util.expect_setup_callback(self.mavproxy, self.expect_callback)
 
         self.expect_list_clear()

Tools/autotest/ardusub.py

@@ -51,15 +51,14 @@ class AutoTestSub(AutoTest):
         if self.frame is None:
             self.frame = 'vectored'
 
-        self.apply_parameters_using_sitl()
-
         self.sitl = util.start_SITL(self.binary,
                                     model=self.frame,
                                     home=self.home,
                                     speedup=self.speedup,
                                     valgrind=self.valgrind,
                                     gdb=self.gdb,
-                                    gdbserver=self.gdbserver)
+                                    gdbserver=self.gdbserver,
+                                    wipe=True)
         self.mavproxy = util.start_MAVProxy_SITL(
             'ArduSub', options=self.mavproxy_options())
         self.mavproxy.expect('Telemetry log: (\S+)\r\n')
@@ -75,6 +74,7 @@ class AutoTestSub(AutoTest):
         except Exception:
             pass
 
+        self.progress("WAITING FOR PARAMETERS")
         self.mavproxy.expect('Received [0-9]+ parameters')
 
         util.expect_setup_callback(self.mavproxy, self.expect_callback)
@@ -96,6 +96,9 @@ class AutoTestSub(AutoTest):
         self.mav.message_hooks.append(self.message_hook)
         self.mav.idle_hooks.append(self.idle_hook)
         self.hasInit = True
+
+        self.apply_defaultfile_parameters()
+
         self.progress("Ready to start testing!")
 
     def dive_manual(self):

Tools/autotest/common.py

@@ -146,17 +146,8 @@ class AutoTest(ABC):
     def vehicleinfo_key(self):
         return self.log_name
 
-    def apply_parameters_using_sitl(self):
+    def apply_defaultfile_parameters(self):
-        '''start SITL, apply parameter file, stop SITL'''
+        '''apply parameter file'''
-        sitl = util.start_SITL(self.binary,
-                               wipe=True,
-                               model=self.frame,
-                               home=self.home,
-                               speedup=self.speedup_default)
-        self.mavproxy = util.start_MAVProxy_SITL(self.log_name)
-
-        self.progress("WAITING FOR PARAMETERS")
-        self.mavproxy.expect('Received [0-9]+ parameters')
 
         # setup test parameters
         vinfo = vehicleinfo.VehicleInfo()
@@ -170,11 +161,11 @@ class AutoTest(ABC):
             self.mavproxy.expect('Loaded [0-9]+ parameters')
         self.set_parameter('LOG_REPLAY', 1)
         self.set_parameter('LOG_DISARMED', 1)
+        self.reboot_sitl()
 
-        # kill this SITL instance off:
+    def reboot_sitl(self):
-        util.pexpect_close(self.mavproxy)
+        self.mavproxy.send("reboot\n")
-        util.pexpect_close(sitl)
+        self.mavproxy.expect("tilt alignment complete")
-        self.mavproxy = None
 
     def close(self):
         '''tidy up after running all tests'''