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Tools: autotest: convert QuadPlane to new tests framework

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Peter Barker 2018-12-18 08:52:09 +11:00 committed by Andrew Tridgell
parent 69293f46f3
commit 205fc7b55d
1 changed files with 18 additions and 39 deletions
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57
Tools/autotest/quadplane.py
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@ -54,6 +54,8 @@ class AutoTestQuadPlane(AutoTest):
if self.frame is None:
self.frame = 'quadplane'
self.mavproxy_logfile = self.open_mavproxy_logfile()
defaults_file = os.path.join(testdir, 'default_params/quadplane.parm')
self.sitl = util.start_SITL(self.binary,
wipe=True,
@ -115,6 +117,8 @@ class AutoTestQuadPlane(AutoTest):
self.mavproxy.send('fence load %s\n' % fence)
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('mode AUTO\n')
self.wait_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
@ -129,45 +133,20 @@ class AutoTestQuadPlane(AutoTest):
self.mav.motors_disarmed_wait()
self.progress("Mission OK")
def autotest(self):
"""Autotest QuadPlane in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()
def default_mode(self):
return "FBWA"
self.fail_list = []
def tests(self):
'''return list of all tests'''
m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")
f = os.path.join(testdir,
"ArduPlane-Missions/Dalby-OBC2016-fence.txt")
try:
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.mav.wait_heartbeat()
self.progress("Waiting for GPS fix")
self.mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
self.mav.wait_gps_fix()
while self.mav.location().alt < 10:
self.mav.wait_gps_fix()
self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc)
ret = super(AutoTestQuadPlane, self).tests()
ret.extend([
("ArmFeatures", "Arm features", self.test_arm_feature),
# wait for EKF and GPS checks to pass
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")
f = os.path.join(testdir,
"ArduPlane-Missions/Dalby-OBC2016-fence.txt")
self.run_test("Mission", lambda: self.fly_mission(m, f))
except pexpect.TIMEOUT:
self.progress("Failed with timeout")
self.fail_list.append("Failed with timeout")
self.close()
if len(self.fail_list):
self.progress("FAILED: %s" % self.fail_list)
return False
return True
("Mission", "Dalby Mission",
lambda: self.fly_mission(m, f))
])
return ret