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

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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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24
Tools/autotest/arducopter.py
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@ -2318,16 +2318,12 @@ class AutoTestCopter(AutoTest):
def fly_guided_change_submode(self): def fly_guided_change_submode(self):
""""Ensure we can move around in guided after a takeoff command.""" """"Ensure we can move around in guided after a takeoff command."""
self.context_push()
ex = None
try:
'''start by disabling GCS failsafe, otherwise we immediately disarm '''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup''' too long. This is probably a function of --speedup'''
self.set_parameter("FS_GCS_ENABLE", 0) self.set_parameter("FS_GCS_ENABLE", 0)
self.mavproxy.send('mode guided\n') # stabilize mode self.set_parameter("DISARM_DELAY", 0) # until traffic problems are fixed
self.wait_mode('GUIDED') self.change_mode("GUIDED")
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -2344,21 +2340,7 @@ class AutoTestCopter(AutoTest):
self.fly_guided_stop() self.fly_guided_stop()
self.fly_guided_move_local(5, 5, 10) self.fly_guided_move_local(5, 5, 10)
self.progress("Landing") self.do_RTL()
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
def test_gripper_mission(self): def test_gripper_mission(self):
self.context_push() self.context_push()