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autotest: flake8 compliance for ardusub.py

This commit is contained in:
Peter Barker 2021-02-12 21:14:08 +11:00 committed by Peter Barker
parent 628a3843b2
commit e221e6ce45
1 changed files with 17 additions and 11 deletions
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28
Tools/autotest/ardusub.py
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@ -1,6 +1,11 @@
#!/usr/bin/env python
# Dive ArduSub in SITL
'''
Dive ArduSub in SITL
AP_FLAKE8_CLEAN
'''
from __future__ import print_function
import os
import sys
@ -55,7 +60,7 @@ class AutoTestSub(AutoTest):
return "ArduSub"
def test_filepath(self):
return os.path.realpath(__file__)
return os.path.realpath(__file__)
def set_current_test_name(self, name):
self.current_test_name_directory = "ArduSub_Tests/" + name + "/"
@ -92,7 +97,9 @@ class AutoTestSub(AutoTest):
self.progress('Altitude hold done: %f' % (previous_altitude))
return
if abs(m.alt - previous_altitude) > delta:
raise NotAchievedException("Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" % (previous_altitude, delta, m.alt))
raise NotAchievedException(
"Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" %
(previous_altitude, delta, m.alt))
def test_alt_hold(self):
"""Test ALT_HOLD mode
@ -156,7 +163,7 @@ class AutoTestSub(AutoTest):
self.mavproxy.send('mode POSHOLD\n')
self.wait_mode('POSHOLD')
#dive a little
# dive a little
self.set_rc(Joystick.Throttle, 1300)
self.delay_sim_time(3)
self.set_rc(Joystick.Throttle, 1500)
@ -172,7 +179,7 @@ class AutoTestSub(AutoTest):
self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location())
if distance_m > 1:
raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m))
raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
# Hold in 1 m/s current
self.progress("Testing position hold in current")
@ -181,7 +188,7 @@ class AutoTestSub(AutoTest):
self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location())
if distance_m > 1:
raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m))
raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
# Move forward slowly in 1 m/s current
start_pos = self.mav.location()
@ -191,7 +198,7 @@ class AutoTestSub(AutoTest):
distance_m = self.get_distance(start_pos, self.mav.location())
bearing = self.get_bearing(start_pos, self.mav.location())
if distance_m < 2 or (bearing > 30 and bearing < 330):
raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing))
raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) # noqa
self.disarm_vehicle()
def test_mot_thst_hover_ignore(self):
@ -208,7 +215,6 @@ class AutoTestSub(AutoTest):
self.set_parameter("MOT_THST_HOVER", value)
self.test_alt_hold()
def dive_manual(self):
self.wait_ready_to_arm()
self.arm_vehicle()
@ -267,7 +273,7 @@ class AutoTestSub(AutoTest):
try:
try:
self.get_parameter("GRIP_ENABLE", timeout=5)
except NotAchievedException as e:
except NotAchievedException:
self.progress("Skipping; Gripper not enabled in config?")
return
@ -362,7 +368,7 @@ class AutoTestSub(AutoTest):
batt = self.mav.recv_match(type='BATTERY_STATUS',
blocking=True,
timeout=1)
except ConnectionResetError as e:
except ConnectionResetError:
pass
self.progress("Battery: %s" % str(batt))
if batt is None:
@ -379,7 +385,7 @@ class AutoTestSub(AutoTest):
def disabled_tests(self):
ret = super(AutoTestSub, self).disabled_tests()
ret.update({
"ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247",
"ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", # noqa
})
return ret