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Tools: autotest: get mavproxy to heartbeat at speedup rate

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This should resolve a race condition we have with guided position modes.

MAVProxy's heartbeat rate defaults to 1Hz.

When GCS failsafe is active on Copter because we're in GUIDED (or
GUIDED_NOGPS mode) we require a heartbeat every 5 seconds.  At speedup
8, we can only expect a heartbeat every 8 seconds of sim time.

We also only check for this heartbeat every 3 seconds - leading to this
awesome race condition.
This commit is contained in:
Peter Barker 2019-07-12 11:54:06 +10:00 committed by Peter Barker
parent 87e43d6e44
commit bd50f288a1
1 changed files with 2 additions and 1 deletions
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3
Tools/autotest/common.py
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@ -249,7 +249,8 @@ class AutoTest(ABC):
"""Returns options to be passed to MAVProxy.""" """Returns options to be passed to MAVProxy."""
ret = ['--sitl=127.0.0.1:5501', ret = ['--sitl=127.0.0.1:5501',
'--out=' + self.autotest_connection_string_from_mavproxy(), '--out=' + self.autotest_connection_string_from_mavproxy(),
'--streamrate=%u' % self.sitl_streamrate()] '--streamrate=%u' % self.sitl_streamrate(),
'--cmd="set heartbeat %u"' % self.speedup]
if self.viewerip: if self.viewerip:
ret.append("--out=%s:14550" % self.viewerip) ret.append("--out=%s:14550" % self.viewerip)
if self.use_map: if self.use_map: