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Tools: make takeoff check if it need arming and auto arm

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This commit is contained in:
Pierre Kancir 2018-08-23 12:24:34 +02:00 committed by Randy Mackay
parent 92d06c354e
commit aedd5a9db2
1 changed files with 14 additions and 11 deletions
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25
Tools/autotest/arducopter.py
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@ -142,12 +142,12 @@ class AutoTestCopter(AutoTest):
self.progress("Ran command")
self.wait_for_alt(alt_min)
def takeoff(self, alt_min=30, takeoff_throttle=1700, arm=False):
def takeoff(self, alt_min=30, takeoff_throttle=1700):
"""Takeoff get to 30m altitude."""
self.progress("TAKEOFF")
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
if arm:
if not self.armed():
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
self.set_rc(3, 1000)
@ -1205,7 +1205,7 @@ class AutoTestCopter(AutoTest):
if self.get_sim_time() - tstart > 10:
raise AutoTestTimeoutException()
self.takeoff(arm=True)
self.takeoff()
self.set_rc(1, 1600)
tstart = self.get_sim_time()
while True:
@ -1718,7 +1718,6 @@ class AutoTestCopter(AutoTest):
self.progress("Setting up RC parameters")
self.set_rc_default()
self.set_rc(3, 1000)
self.run_test("Fly Nav Delay (takeoff)",
self.fly_nav_takeoff_delay_abstime)
@ -1786,7 +1785,7 @@ class AutoTestCopter(AutoTest):
# Takeoff
self.run_test("Takeoff to test stability patch",
lambda: self.takeoff(10, arm=True))
lambda: self.takeoff(10))
# Stability patch
self.run_test("Fly stability patch",
@ -1797,12 +1796,16 @@ class AutoTestCopter(AutoTest):
# Takeoff
self.run_test("Takeoff to test horizontal fence",
lambda: self.takeoff(10, arm=True))
lambda: self.takeoff(10))
# Fence test
self.run_test("Test horizontal fence",
lambda: self.fly_fence_test(180))
# Takeoff
self.run_test("Takeoff to test Max Alt fence",
lambda: self.takeoff(10))
# Fence test
self.run_test("Test Max Alt Fence", self.fly_alt_max_fence_test)
@ -1828,7 +1831,7 @@ class AutoTestCopter(AutoTest):
self.fly_gps_glitch_auto_test)
# Takeoff
self.run_test("Takeoff to test loiter", lambda: self.takeoff(10, arm=True))
self.run_test("Takeoff to test loiter", lambda: self.takeoff(10))
# Loiter for 10 seconds
self.run_test("Test Loiter for 10 seconds", self.loiter)
@ -1845,7 +1848,7 @@ class AutoTestCopter(AutoTest):
# Takeoff
self.run_test("Takeoff to test fly SIMPLE mode",
lambda: self.takeoff(10, arm=True))
lambda: self.takeoff(10))
# Simple mode
self.run_test("Fly in SIMPLE mode", self.fly_simple)
@ -1855,7 +1858,7 @@ class AutoTestCopter(AutoTest):
# Takeoff
self.run_test("Takeoff to test circle in SUPER SIMPLE mode",
lambda: self.takeoff(10, arm=True))
lambda: self.takeoff(10))
# Fly a circle in super simple mode
self.run_test("Fly a circle in SUPER SIMPLE mode",
@ -1866,7 +1869,7 @@ class AutoTestCopter(AutoTest):
# Takeoff
self.run_test("Takeoff to test CIRCLE mode",
lambda: self.takeoff(10, arm=True))
lambda: self.takeoff(10))
# Circle mode
self.run_test("Fly CIRCLE mode", self.fly_circle)
@ -1881,7 +1884,7 @@ class AutoTestCopter(AutoTest):
# Takeoff
self.run_test("Takeoff to test motor failure",
lambda: self.takeoff(10, arm=True))
lambda: self.takeoff(10))
self.run_test("Fly motor failure test",
self.fly_motor_fail)