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autotest: create fresh fly_mission suitable for other missions

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the fly_mission in quadplane was very-much Dalby-specific
This commit is contained in:
Peter Barker 2023-01-14 23:52:28 +11:00 committed by Peter Barker
parent b441c24eaa
commit ea167d5bd8
1 changed files with 27 additions and 20 deletions
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47
Tools/autotest/quadplane.py
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@ -282,29 +282,22 @@ class AutoTestQuadPlane(AutoTest):
self.disarm_vehicle()
self.wait_ready_to_arm()
def fly_mission(self, filename, fence=None, height_accuracy=-1, include_terrain_timeout=False):
def fly_mission(self, filename, fence=None, height_accuracy=-1):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
self.load_mission(filename)
if fence is not None:
self.load_fence(fence)
num_wp = self.load_mission(filename)
if self.mavproxy is not None:
self.mavproxy.send('wp list\n')
self.install_terrain_handlers_context()
self.wait_ready_to_arm()
self.arm_vehicle()
if fence is not None:
self.load_fence(fence)
if self.mavproxy is not None:
self.mavproxy.send('fence list\n')
# self.install_terrain_handlers_context()
self.change_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
# wait for blood sample here
self.set_current_waypoint(20)
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
self.wait_waypoint(1, num_wp-1)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
self.progress("Mission OK")
def EXTENDED_SYS_STATE_SLT(self):
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, 10)
@ -1083,11 +1076,25 @@ class AutoTestQuadPlane(AutoTest):
def Mission(self):
'''fly the OBC 2016 mission in Dalby'''
self.fly_mission(
"Dalby-OBC2016.txt",
"Dalby-OBC2016-fence.txt",
include_terrain_timeout=True
)
self.load_mission("Dalby-OBC2016.txt")
self.load_fence("Dalby-OBC2016-fence.txt")
if self.mavproxy is not None:
self.mavproxy.send('wp list\n')
self.install_terrain_handlers_context()
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
# wait for blood sample here
self.set_current_waypoint(20)
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
self.progress("Mission OK")
def tests(self):
'''return list of all tests'''