autotest: tidy various tests to take account of new framework capabilities

autotest: simplify AutoDock test

autotest: tidy AP_Proximity_MAV test

autotest: tidy DriveSquare test

autotest: tidy BatteryFailsafe test

autotest: tidy GPSViconSwitching test

autotest: tidy RangeFinder test

Tools/autotest/arducopter.py

@@ -961,21 +961,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
     # Tests all actions and logic behind the battery failsafe
     def BatteryFailsafe(self, timeout=300):
         '''Fly Battery Failsafe'''
-        self.context_push()
-        ex = None
-        try:
-            self.test_battery_failsafe(timeout=timeout)
-        except Exception as e:
-            self.print_exception_caught(e)
-            self.disarm_vehicle(force=True)
-            ex = e
-        self.context_pop()
-        self.reboot_sitl()
-
-        if ex is not None:
-            raise ex
-
-    def test_battery_failsafe(self, timeout=300):
         self.progress("Configure battery failsafe parameters")
         self.set_parameters({
             'SIM_SPEEDUP': 4,
@@ -3730,12 +3715,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
 
     def GPSViconSwitching(self):
         """Fly GPS and Vicon switching test"""
-        self.customise_SITL_commandline(["--serial5=sim:vicon:"])
-
         """Setup parameters including switching to EKF3"""
-        self.context_push()
-        ex = None
-        try:
         self.set_parameters({
             "VISO_TYPE": 2,      # enable vicon
             "SERIAL5_PROTOCOL": 2,
@@ -3750,7 +3730,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
             "EK2_ENABLE": 0,
             "AHRS_EKF_TYPE": 3,
         })
-            self.reboot_sitl()
+        self.customise_SITL_commandline(["--serial5=sim:vicon:"])
 
         # switch to use GPS
         self.set_rc(8, 1000)
@@ -3798,15 +3778,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         self.set_rc(2, 1500)
         self.do_RTL()
 
-        except Exception as e:
-            self.print_exception_caught(e)
-            ex = e
-        self.context_pop()
-        self.disarm_vehicle(force=True)
-        self.reboot_sitl()
-        if ex is not None:
-            raise ex
-
     def RTLSpeed(self):
         """Test RTL Speed parameters"""
         rtl_speed_ms = 7
@@ -3885,9 +3856,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
 
     def RangeFinder(self):
         '''Test RangeFinder Basic Functionality'''
-        ex = None
-        self.context_push()
-
         self.progress("Making sure we don't ordinarily get RANGEFINDER")
         m = self.mav.recv_match(type='RANGEFINDER',
                                 blocking=True,
@@ -3903,7 +3871,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         if self.current_onboard_log_contains_message("RFND"):
             raise NotAchievedException("Found unexpected RFND message")
 
-        try:
         self.set_analog_rangefinder_parameters()
         self.set_parameter("RC9_OPTION", 10) # rangefinder
         self.set_rc(9, 2000)
@@ -3958,14 +3925,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         if not self.current_onboard_log_contains_message("RFND"):
             raise NotAchievedException("Did not see expected RFND message")
 
-        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 SplineTerrain(self):
         '''Test Splines and Terrain'''
         self.set_parameter("TERRAIN_ENABLE", 0)

Tools/autotest/rover.py

@@ -86,9 +86,6 @@ class AutoTestRover(vehicle_test_suite.TestSuite):
     def DriveSquare(self, side=50):
         """Learn/Drive Square with Ch7 option"""
 
-        self.context_push()
-        ex = None
-        try:
         self.progress("TEST SQUARE")
         self.set_parameters({
             "RC7_OPTION": 7,
@@ -157,15 +154,8 @@ class AutoTestRover(vehicle_test_suite.TestSuite):
         # TODO: actually drive the mission
 
         self.clear_wp(9)
-        except Exception as e:
-            self.print_exception_caught(e)
-            ex = e
 
         self.disarm_vehicle()
-        self.context_pop()
-
-        if ex:
-            raise ex
 
     def drive_left_circuit(self):
         """Drive a left circuit, 50m on a side."""
@@ -5592,9 +5582,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
 
     def AP_Proximity_MAV(self):
         '''Test MAV proximity backend'''
-        self.context_push()
+
-        ex = None
-        try:
         self.set_parameters({
             "PRX1_TYPE": 2,  # AP_Proximity_MAV
             "OA_TYPE": 2,  # dijkstra
@@ -5644,14 +5632,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 {"orientation": 7, "distance": 1190},
             ])
 
-        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 SendToComponents(self):
         '''Test ArduPilot send_to_components function'''
         self.set_parameter("CAM1_TYPE", 5) # Camera with MAVlink trigger
@@ -6295,8 +6275,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
 
     def AutoDock(self):
         '''Test automatic docking of rover for multiple FOVs of simulated beacon'''
-        self.context_push()
-
         self.set_parameters({
             "PLND_ENABLED": 1,
             "PLND_TYPE": 4,
@@ -6322,8 +6300,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         })
 
         for type in range(0, 3):  # CYLINDRICAL FOV, CONICAL FOV, SPHERICAL FOV
-            ex = None
-            try:
             self.set_parameter("SIM_PLD_TYPE", type)
             self.reboot_sitl()
             self.change_mode('GUIDED')
@@ -6345,17 +6321,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             if not self.current_onboard_log_contains_message("PL"):
                 raise NotAchievedException("Did not see expected PL message")
 
-            except Exception as e:
-                self.print_exception_caught(e)
-                ex = e
-                break
-
-        self.context_pop()
-
-        if ex is not None:
-            raise ex
-
-        self.reboot_sitl()
         self.progress("All done")
 
     def PrivateChannel(self):