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AutoTest: Make fence tests flake8 compliant

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This commit is contained in:
James O'Shannessy 2021-02-18 16:49:25 +11:00 committed by Peter Barker
parent af733b2f09
commit fa7be629e5
2 changed files with 21 additions and 23 deletions
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42
Tools/autotest/arduplane.py
View File

@ -1158,13 +1158,13 @@ class AutoTestPlane(AutoTest):
self.progress("Test arming while vehicle outside of inclusion zone")
self.set_parameter("FENCE_TYPE", 4) # Enables polygon fence types
locs = [
mavutil.location(1.0, 1.0, 0, 0),
mavutil.location(1.0, 1.001, 0, 0),
mavutil.location(1.000, 1.000, 0, 0),
mavutil.location(1.000, 1.001, 0, 0),
mavutil.location(1.001, 1.001, 0, 0),
mavutil.location(1.001, 1.0, 0, 0)
mavutil.location(1.001, 1.000, 0, 0)
]
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
[
locs
]
@ -1187,7 +1187,7 @@ class AutoTestPlane(AutoTest):
mavutil.location(home_loc.lat + 0.001, home_loc.lng - 0.001, 0, 0),
]
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
[
locs
]
@ -1324,14 +1324,14 @@ class AutoTestPlane(AutoTest):
0, # p2
0, # p3
0, # p4
int(fence_loc.lat *1e7), # latitude
int(fence_loc.lng *1e7), # longitude
int(fence_loc.lat * 1e7), # latitude
int(fence_loc.lng * 1e7), # longitude
0, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_FENCE
)
]
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
fence_return_mission_items)
fence_return_mission_items)
self.delay_sim_time(1)
# Grab a location for rally point, and upload it.
@ -1339,15 +1339,15 @@ class AutoTestPlane(AutoTest):
self.location_offset_ne(rally_loc, -50, -50)
self.set_parameter("RALLY_TOTAL", 1)
self.mav.mav.rally_point_send(target_system,
target_component,
0, # sequence number
1, # total count
int(rally_loc.lat * 1e7),
int(rally_loc.lng * 1e7),
15,
0, # "break" alt?!
0, # "land dir"
0) # flags
target_component,
0, # sequence number
1, # total count
int(rally_loc.lat * 1e7),
int(rally_loc.lng * 1e7),
15,
0, # "break" alt?!
0, # "land dir"
0) # flags
self.delay_sim_time(1)
return_radius = 100
@ -1371,8 +1371,8 @@ class AutoTestPlane(AutoTest):
self.set_parameter("FENCE_RET_RALLY", 0)
self.set_parameter("FENCE_ALT_MIN", 60)
self.wait_altitude(altitude_min=return_alt-3,
altitude_max=return_alt+3,
relative=True)
altitude_max=return_alt+3,
relative=True)
self.wait_circling_point_with_radius(fence_loc, return_radius)
self.do_fence_disable() # Disable fence so we can land
self.fly_home_land_and_disarm() # Pack it up, we're going home.
@ -2492,7 +2492,6 @@ class AutoTestPlane(AutoTest):
if (not (m.onboard_control_sensors_health & fence_bit)):
raise NotAchievedException("Fence breach did not clear")
self.progress("Fly below floor and check for breach")
self.change_altitude(self.homeloc.alt + cruise_alt - 80)
@ -2502,7 +2501,7 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Fence Floor did not breach")
self.do_fence_disable()
self.fly_home_land_and_disarm(timeout=150)
def test_fence_disable_under_breach_action(self):
@ -2528,7 +2527,6 @@ class AutoTestPlane(AutoTest):
attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=5)
attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=6)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()

2
Tools/autotest/common.py
View File

@ -5263,7 +5263,7 @@ class AutoTest(ABC):
raise AutoTestTimeoutException("Prearm bit never went true")
if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, True):
break
def assert_fence_enabled(self, timeout=2):
# Check fence is enabled
m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=timeout)