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Tools: autotest: remove needless wrappers, initialisation etc around guided-submode test 

Also disable disarm delay due to autotest mavlink traffic issues
This commit is contained in:
Peter Barker 2019-03-11 13:58:26 +11:00 committed by Peter Barker
parent 57ab496a1c
commit b450355ff6
1 changed files with 18 additions and 36 deletions
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54
Tools/autotest/arducopter.py
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@ -2318,47 +2318,29 @@ class AutoTestCopter(AutoTest):
def fly_guided_change_submode(self):
""""Ensure we can move around in guided after a takeoff command."""
self.context_push()
'''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup'''
self.set_parameter("FS_GCS_ENABLE", 0)
self.set_parameter("DISARM_DELAY", 0) # until traffic problems are fixed
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
ex = None
try:
'''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup'''
self.set_parameter("FS_GCS_ENABLE", 0)
self.mavproxy.send('mode guided\n') # stabilize mode
self.wait_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=10)
self.user_takeoff(alt_min=10)
"""yaw through absolute angles using MAV_CMD_CONDITION_YAW"""
self.guided_achieve_heading(45)
self.guided_achieve_heading(135)
"""yaw through absolute angles using MAV_CMD_CONDITION_YAW"""
self.guided_achieve_heading(45)
self.guided_achieve_heading(135)
"""move the vehicle using set_position_target_global_int"""
self.fly_guided_move_relative(5, 5, 10)
"""move the vehicle using set_position_target_global_int"""
self.fly_guided_move_relative(5, 5, 10)
"""move the vehicle using MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED"""
self.fly_guided_stop()
self.fly_guided_move_local(5, 5, 10)
"""move the vehicle using MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED"""
self.fly_guided_stop()
self.fly_guided_move_local(5, 5, 10)
self.progress("Landing")
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.mav.motors_disarmed_wait()
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
self.zero_throttle()
self.reboot_sitl()
if ex is not None:
raise ex
self.do_RTL()
def test_gripper_mission(self):
self.context_push()