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Tools: autotest: use change_mode in apmrover2 for changing modes

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Peter Barker 2018-12-14 09:21:54 +11:00 committed by Peter Barker
parent a320a54f66
commit e6c30f6405
2 changed files with 10 additions and 10 deletions
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15
Tools/autotest/apmrover2.py
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@ -400,8 +400,7 @@ class AutoTestRover(AutoTest):
self.set_parameter('CRUISE_SPEED', speed*1.2) self.set_parameter('CRUISE_SPEED', speed*1.2)
# at time of writing, the vehicle is only capable of 10m/s/s accel # at time of writing, the vehicle is only capable of 10m/s/s accel
self.set_parameter('ATC_ACCEL_MAX', 15) self.set_parameter('ATC_ACCEL_MAX', 15)
self.mavproxy.send("mode STEERING\n") self.change_mode("STEERING")
self.wait_mode('STEERING')
self.set_rc(3, 2000) self.set_rc(3, 2000)
self.wait_groundspeed(15, 100) self.wait_groundspeed(15, 100)
initial = self.mav.location() initial = self.mav.location()
@ -530,17 +529,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.arm_vehicle() self.arm_vehicle()
# first make sure we can breach the fence: # first make sure we can breach the fence:
self.set_rc(10, 1000) self.set_rc(10, 1000)
self.mavproxy.send("mode acro\n") self.change_mode("ACRO")
self.wait_mode("ACRO")
self.set_rc(3, 1550) self.set_rc(3, 1550)
self.wait_distance_home_gt(25) self.wait_distance_home_gt(25)
self.mavproxy.send("mode RTL\n") self.change_mode("RTL")
self.wait_mode("RTL")
self.mavproxy.expect("APM: Reached destination") self.mavproxy.expect("APM: Reached destination")
# now enable avoidance and make sure we can't: # now enable avoidance and make sure we can't:
self.set_rc(10, 2000) self.set_rc(10, 2000)
self.mavproxy.send("mode acro\n") self.change_mode("ACRO")
self.wait_mode("ACRO")
self.wait_groundspeed(0, 0.7, timeout=60) self.wait_groundspeed(0, 0.7, timeout=60)
# watch for speed zero # watch for speed zero
self.wait_groundspeed(0, 0.2, timeout=120) self.wait_groundspeed(0, 0.2, timeout=120)
@ -752,8 +748,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
try: try:
self.load_mission("rover-camera-mission.txt") self.load_mission("rover-camera-mission.txt")
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.mavproxy.send('mode auto\n') self.change_mode("AUTO")
self.wait_mode('AUTO')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
prev_cf = None prev_cf = None

5
Tools/autotest/common.py
View File

@ -893,6 +893,11 @@ class AutoTest(ABC):
bearing += 360.00 bearing += 360.00
return bearing return bearing
def change_mode(self, mode):
'''change vehicle flightmode'''
self.mavproxy.send('mode %s\n' % mode)
self.wait_mode(mode)
def do_get_autopilot_capabilities(self): def do_get_autopilot_capabilities(self):
tstart = self.get_sim_time() tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 10: while self.get_sim_time() - tstart < 10: