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Tools: autotest: eliminate use of recv_match with condition 

We have functions for achieving this

Also, a lot of these places were missing timeouts, so any failure would
cause the entire suite to stop running
This commit is contained in:
Peter Barker 2019-02-22 14:51:05 +11:00 committed by Peter Barker
parent c15983c690
commit e9fc158c8a
3 changed files with 11 additions and 29 deletions
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2
Tools/autotest/arducopter.py
View File

@ -278,8 +278,6 @@ class AutoTestCopter(AutoTest):
self.set_rc(4, 1580)
self.wait_heading(10)
self.set_rc(4, 1500)
self.mav.recv_match(condition='RC_CHANNELS.chan4_raw==1500',
blocking=True)
# save bottom left corner of box as waypoint
self.progress("Save WP 1 & 2")

4
Tools/autotest/arduplane.py
View File

@ -120,12 +120,12 @@ class AutoTestPlane(AutoTest):
# get it moving a bit first
self.set_rc(3, 1300)
self.mav.recv_match(condition='VFR_HUD.groundspeed>6', blocking=True)
self.wait_groundspeed(6, 100)
# a bit faster again, straighten rudder
self.set_rc(3, 1600)
self.set_rc(4, 1500)
self.mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True)
self.wait_groundspeed(12, 100)
# hit the gas harder now, and give it some more elevator
self.set_rc(2, 1100)

34
Tools/autotest/common.py
View File

@ -425,17 +425,11 @@ class AutoTest(ABC):
def save_wp(self):
"""Trigger RC 7 to save waypoint."""
self.mavproxy.send('rc 7 1000\n')
self.mav.recv_match(condition='RC_CHANNELS.chan7_raw==1000',
blocking=True)
self.set_rc(7, 1000)
self.wait_seconds(1)
self.mavproxy.send('rc 7 2000\n')
self.mav.recv_match(condition='RC_CHANNELS.chan7_raw==2000',
blocking=True)
self.set_rc(7, 2000)
self.wait_seconds(1)
self.mavproxy.send('rc 7 1000\n')
self.mav.recv_match(condition='RC_CHANNELS.chan7_raw==1000',
blocking=True)
self.set_rc(7, 1000)
self.wait_seconds(1)
def clear_wp(self):
@ -1154,38 +1148,28 @@ class AutoTest(ABC):
if self.is_copter():
self.mavproxy.send('rc 4 1580\n')
self.wait_heading(heading)
self.mavproxy.send('rc 4 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan4_raw==1500',
blocking=True)
self.set_rc(4, 1500)
if self.is_plane():
self.progress("NOT IMPLEMENTED")
if self.is_rover():
self.mavproxy.send('rc 1 1700\n')
self.mavproxy.send('rc 3 1550\n')
self.wait_heading(heading)
self.mavproxy.send('rc 3 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan3_raw==1500',
blocking=True)
self.mavproxy.send('rc 1 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan1_raw==1500',
blocking=True)
self.set_rc(3, 1500)
self.set_rc(1, 1500)
def reach_distance_manual(self, distance):
"""Manually direct the vehicle to the target distance from home."""
if self.is_copter():
self.mavproxy.send('rc 2 1350\n')
self.set_rc(2, 1350)
self.wait_distance(distance, accuracy=5, timeout=60)
self.mavproxy.send('rc 2 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan2_raw==1500',
blocking=True)
self.set_rc(2, 1500)
if self.is_plane():
self.progress("NOT IMPLEMENTED")
if self.is_rover():
self.mavproxy.send('rc 3 1700\n')
self.wait_distance(distance, accuracy=2)
self.mavproxy.send('rc 3 1500\n')
self.mav.recv_match(condition='RC_CHANNELS.chan3_raw==1500',
blocking=True)
self.set_rc(3, 1500)
def guided_achieve_heading(self, heading):
tstart = self.get_sim_time()