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autotest: simplify Plane Rangefinder test

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this was written before there was an implicit context and reboot-on-failure at the level calling these tests
This commit is contained in:
Peter Barker 2023-01-04 11:03:03 +11:00 committed by Peter Barker
parent 3854e4a99d
commit 1a262010ff
1 changed files with 25 additions and 41 deletions
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66
Tools/autotest/arduplane.py
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@ -1977,56 +1977,40 @@ class AutoTestPlane(AutoTest):
def RangeFinder(self):
'''Test RangeFinder Basic Functionality'''
ex = None
self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER")
m = None
try:
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
timeout=5)
except Exception as e:
self.print_exception_caught(e)
self.assert_not_receive_message('RANGEFDINDER')
if m is not None:
raise NotAchievedException("Received unexpected RANGEFINDER msg")
self.set_analog_rangefinder_parameters()
try:
self.set_analog_rangefinder_parameters()
self.reboot_sitl()
self.reboot_sitl()
'''ensure rangefinder gives height-above-ground'''
self.load_mission("plane-gripper-mission.txt") # borrow this
self.set_parameter("RTL_AUTOLAND", 1)
self.set_current_waypoint(1)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(5, 5, max_dist=100)
rf = self.mav.recv_match(type="RANGEFINDER", timeout=1, blocking=True)
if rf is None:
raise NotAchievedException("Did not receive rangefinder message")
gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1)
if gpi is None:
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message")
if abs(rf.distance - gpi.relative_alt/1000.0) > 3:
raise NotAchievedException(
"rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" %
(rf.distance, gpi.relative_alt/1000.0))
self.wait_statustext("Auto disarmed", timeout=60)
'''ensure rangefinder gives height-above-ground'''
self.load_mission("plane-gripper-mission.txt") # borrow this
self.set_parameter("RTL_AUTOLAND", 1)
self.set_current_waypoint(1)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(5, 5, max_dist=100)
rf = self.mav.recv_match(type="RANGEFINDER", timeout=1, blocking=True)
if rf is None:
raise NotAchievedException("Did not receive rangefinder message")
gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1)
if gpi is None:
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message")
if abs(rf.distance - gpi.relative_alt/1000.0) > 3:
raise NotAchievedException(
"rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" %
(rf.distance, gpi.relative_alt/1000.0))
self.wait_statustext("Auto disarmed", timeout=60)
self.progress("Ensure RFND messages in log")
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("No RFND messages in log")
self.progress("Ensure RFND messages in log")
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("No RFND messages in log")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def rc_defaults(self):
ret = super(AutoTestPlane, self).rc_defaults()