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autotest: change wait_waypoint mode check 

If we change mode while waiting for waypoints then we are no longer running the mission and should fail
This commit is contained in:
Francisco Ferreira 2016-05-12 00:06:12 +01:00 committed by Randy Mackay
parent e06c900812
commit c873524966
2 changed files with 9 additions and 8 deletions
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8
Tools/autotest/arducopter.py
View File

@ -609,7 +609,7 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=120):
mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n') mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
# continue with the mission # continue with the mission
ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO') ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
# wait for arrival back home # wait for arrival back home
m = mav.recv_match(type='VFR_HUD', blocking=True) m = mav.recv_match(type='VFR_HUD', blocking=True)
@ -800,7 +800,7 @@ def fly_auto_test(mavproxy, mav):
mavproxy.send('rc 3 1500\n') mavproxy.send('rc 3 1500\n')
# fly the mission # fly the mission
ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO') ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
# set throttle to minimum # set throttle to minimum
mavproxy.send('rc 3 1000\n') mavproxy.send('rc 3 1000\n')
@ -834,7 +834,7 @@ def fly_avc_test(mavproxy, mav):
mavproxy.send('rc 3 1500\n') mavproxy.send('rc 3 1500\n')
# fly the mission # fly the mission
ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO') ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
# set throttle to minimum # set throttle to minimum
mavproxy.send('rc 3 1000\n') mavproxy.send('rc 3 1000\n')
@ -865,7 +865,7 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
mavproxy.send('wp set 1\n') mavproxy.send('wp set 1\n')
mavproxy.send('switch 4\n') # auto mode mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO') wait_mode(mav, 'AUTO')
ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO') ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
expect_msg = "Reached command #%u" % (num_wp-1) expect_msg = "Reached command #%u" % (num_wp-1)
if (ret): if (ret):
mavproxy.expect(expect_msg) mavproxy.expect(expect_msg)

9
Tools/autotest/common.py
View File

@ -172,12 +172,13 @@ def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height
print("Failed to attain location") print("Failed to attain location")
return False return False
def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, timeout=400, mode=None): def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, timeout=400):
'''wait for waypoint ranges''' '''wait for waypoint ranges'''
tstart = get_sim_time(mav) tstart = get_sim_time(mav)
# this message arrives after we set the current WP # this message arrives after we set the current WP
start_wp = mav.waypoint_current() start_wp = mav.waypoint_current()
current_wp = start_wp current_wp = start_wp
mode = mav.flightmode
print("\ntest: wait for waypoint ranges start=%u end=%u\n\n" % (wpnum_start, wpnum_end)) print("\ntest: wait for waypoint ranges start=%u end=%u\n\n" % (wpnum_start, wpnum_end))
# if start_wp != wpnum_start: # if start_wp != wpnum_start:
@ -190,10 +191,10 @@ def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, time
wp_dist = m.wp_dist wp_dist = m.wp_dist
m = mav.recv_match(type='VFR_HUD', blocking=True) m = mav.recv_match(type='VFR_HUD', blocking=True)
# if we exited the required mode, finish # if we changed mode, fail
if mode is not None and mav.flightmode != mode: if mav.flightmode != mode:
print('Exited %s mode' % mode) print('Exited %s mode' % mode)
return True return False
print("test: WP %u (wp_dist=%u Alt=%d), current_wp: %u, wpnum_end: %u" % (seq, wp_dist, m.alt, current_wp, wpnum_end)) print("test: WP %u (wp_dist=%u Alt=%d), current_wp: %u, wpnum_end: %u" % (seq, wp_dist, m.alt, current_wp, wpnum_end))
if seq == current_wp+1 or (seq > current_wp+1 and allow_skip): if seq == current_wp+1 or (seq > current_wp+1 and allow_skip):