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autotest: pause/unpause SITL while draining mav

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If Python can't keep up with the message volume coming from the autopilot we never manage to drain all messages from the vehicle.

So try pausing/unpausing the simulation so we can drain the link...

AT-1968.6: AP: PreArm: Radio failsafe on
AT-1969.9: AP: PreArm: Radio failsafe on
AT-1971.2: AP: PreArm: Radio failsafe on
AT-1972.4: AP: PreArm: Radio failsafe on
AT-1973.7: AP: PreArm: Radio failsafe on
AT-1974.9: AP: PreArm: Radio failsafe on
AT-1975.3: Drained 2000283 messages from mav (7218.974791/s)
AT-1975.3: Exception caught: Traceback (most recent call last):
  File "/mnt/volume_nyc3_01/autotest/APM/APM/Tools/autotest/common.py", line 699
8, in run_one_test_attempt
    self.context_pop()
  File "/mnt/volume_nyc3_01/autotest/APM/APM/Tools/autotest/common.py", line 499
3, in context_pop
    self.set_parameters(dead_parameters_dict, add_to_context=False)
This commit is contained in:
Peter Barker 2022-07-18 11:15:22 +10:00 committed by Peter Barker
parent e38adc7d14
commit acd9fb9c0a
3 changed files with 0 additions and 11 deletions
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2
Tools/autotest/arducopter.py
View File

@ -6668,7 +6668,6 @@ class AutoTestCopter(AutoTest):
raise ex raise ex
def wait_generator_speed_and_state(self, rpm_min, rpm_max, want_state, timeout=240): def wait_generator_speed_and_state(self, rpm_min, rpm_max, want_state, timeout=240):
self.drain_mav()
tstart = self.get_sim_time() tstart = self.get_sim_time()
while True: while True:
if self.get_sim_time_cached() - tstart > timeout: if self.get_sim_time_cached() - tstart > timeout:
@ -6812,7 +6811,6 @@ class AutoTestCopter(AutoTest):
self.progress("Reset mission") self.progress("Reset mission")
self.set_rc(7, 2000) self.set_rc(7, 2000)
self.delay_sim_time(1) self.delay_sim_time(1)
self.drain_mav()
self.wait_current_waypoint(0, timeout=10) self.wait_current_waypoint(0, timeout=10)
self.set_rc(7, 1000) self.set_rc(7, 1000)

1
Tools/autotest/arduplane.py
View File

@ -802,7 +802,6 @@ class AutoTestPlane(AutoTest):
# waypoint: # waypoint:
self.wait_distance_to_waypoint(8, 100, 10000000) self.wait_distance_to_waypoint(8, 100, 10000000)
self.set_current_waypoint(8) self.set_current_waypoint(8)
self.drain_mav()
# TODO: reflect on file to find this magic waypoint number? # TODO: reflect on file to find this magic waypoint number?
# self.wait_waypoint(7, num_wp-1, timeout=500) # we # self.wait_waypoint(7, num_wp-1, timeout=500) # we
# tend to miss the final waypoint by a fair bit, and # tend to miss the final waypoint by a fair bit, and

8
Tools/autotest/common.py
View File

@ -5582,7 +5582,6 @@ class AutoTest(ABC):
################################################# #################################################
def delay_sim_time(self, seconds_to_wait, reason=None): def delay_sim_time(self, seconds_to_wait, reason=None):
"""Wait some second in SITL time.""" """Wait some second in SITL time."""
self.drain_mav()
tstart = self.get_sim_time() tstart = self.get_sim_time()
tnow = tstart tnow = tstart
r = "Delaying %f seconds" r = "Delaying %f seconds"
@ -6691,7 +6690,6 @@ Also, ignores heartbeats not from our target system'''
def wait_ekf_flags(self, required_value, error_bits, timeout=30): def wait_ekf_flags(self, required_value, error_bits, timeout=30):
self.progress("Waiting for EKF value %u" % required_value) self.progress("Waiting for EKF value %u" % required_value)
self.drain_mav()
last_print_time = 0 last_print_time = 0
tstart = self.get_sim_time() tstart = self.get_sim_time()
while timeout is None or self.get_sim_time_cached() < tstart + timeout: while timeout is None or self.get_sim_time_cached() < tstart + timeout:
@ -7362,7 +7360,6 @@ Also, ignores heartbeats not from our target system'''
'''mavlink2 required''' '''mavlink2 required'''
target_system = 1 target_system = 1
target_component = 1 target_component = 1
self.drain_mav()
self.progress("Sending mission_request_list") self.progress("Sending mission_request_list")
tstart = self.get_sim_time() tstart = self.get_sim_time()
self.mav.mav.mission_request_list_send(target_system, self.mav.mav.mission_request_list_send(target_system,
@ -7641,7 +7638,6 @@ Also, ignores heartbeats not from our target system'''
def zero_mag_offset_parameters(self, compass_count=3): def zero_mag_offset_parameters(self, compass_count=3):
self.progress("Zeroing Mag OFS parameters") self.progress("Zeroing Mag OFS parameters")
self.drain_mav()
self.get_sim_time() self.get_sim_time()
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS, self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS,
2, # param1 (compass0) 2, # param1 (compass0)
@ -7686,7 +7682,6 @@ Also, ignores heartbeats not from our target system'''
def forty_two_mag_dia_odi_parameters(self, compass_count=3): def forty_two_mag_dia_odi_parameters(self, compass_count=3):
self.progress("Forty twoing Mag DIA and ODI parameters") self.progress("Forty twoing Mag DIA and ODI parameters")
self.drain_mav()
self.get_sim_time() self.get_sim_time()
params = [ params = [
[("SIM_MAG_DIA_X", "COMPASS_DIA_X", 42.0), [("SIM_MAG_DIA_X", "COMPASS_DIA_X", 42.0),
@ -7747,7 +7742,6 @@ Also, ignores heartbeats not from our target system'''
def reset_pos_and_start_magcal(mavproxy, tmask): def reset_pos_and_start_magcal(mavproxy, tmask):
mavproxy.send("sitl_stop\n") mavproxy.send("sitl_stop\n")
mavproxy.send("sitl_attitude 0 0 0\n") mavproxy.send("sitl_attitude 0 0 0\n")
self.drain_mav()
self.get_sim_time() self.get_sim_time()
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL, self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
tmask, # p1: mag_mask tmask, # p1: mag_mask
@ -7804,7 +7798,6 @@ Also, ignores heartbeats not from our target system'''
if self.is_copter(): if self.is_copter():
# set frame class to pass arming check on copter # set frame class to pass arming check on copter
self.set_parameter("FRAME_CLASS", 1) self.set_parameter("FRAME_CLASS", 1)
self.drain_mav()
self.progress("Setting SITL Magnetometer model value") self.progress("Setting SITL Magnetometer model value")
self.set_parameter("COMPASS_AUTO_ROT", 0) self.set_parameter("COMPASS_AUTO_ROT", 0)
# MAG_ORIENT = 4 # MAG_ORIENT = 4
@ -9058,7 +9051,6 @@ Also, ignores heartbeats not from our target system'''
def poll_message(self, message_id, timeout=10): def poll_message(self, message_id, timeout=10):
if type(message_id) == str: if type(message_id) == str:
message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id) message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
self.drain_mav()
tstart = self.get_sim_time() # required for timeout in run_cmd_get_ack to work tstart = self.get_sim_time() # required for timeout in run_cmd_get_ack to work
self.send_poll_message(message_id) self.send_poll_message(message_id)
self.run_cmd_get_ack( self.run_cmd_get_ack(