autotest: use self.set_current_waypoint rather than "wp set" to set current wp

Tools/autotest/arducopter.py

@@ -410,7 +410,7 @@ class AutoTestCopter(AutoTest):
             self.progress("save_mission_to_file failed")
 
         self.progress("test: Fly a mission from 1 to %u" % num_wp)
-        self.mavproxy.send('wp set 1\n')
+        self.set_current_waypoint(1)
         self.change_mode('AUTO')
         self.wait_waypoint(0, num_wp-1, timeout=500)
         self.progress("test: MISSION COMPLETE: passed!")
@@ -1450,7 +1450,7 @@ class AutoTestCopter(AutoTest):
             self.show_gps_and_sim_positions(True)
 
         self.progress("test: Fly a mission from 1 to %u" % num_wp)
-        self.mavproxy.send('wp set 1\n')
+        self.set_current_waypoint(1)
 
         self.change_mode("STABILIZE")
         self.wait_ready_to_arm()
@@ -1971,7 +1971,7 @@ class AutoTestCopter(AutoTest):
             raise NotAchievedException("load copter_mission failed")
 
         self.progress("test: Fly a mission from 1 to %u" % num_wp)
-        self.mavproxy.send('wp set 1\n')
+        self.set_current_waypoint(1)
 
         self.change_mode("LOITER")
         self.wait_ready_to_arm()
@@ -5551,9 +5551,7 @@ class AutoTestCopter(AutoTest):
         self.delay_sim_time(2)
         self.load_mission("copter_loiter_to_alt.txt")
         set_wp = 4
-        self.mavproxy.send("wp set %u\n" % set_wp)
-        self.delay_sim_time(1)
-        self.drain_mav()
+        self.set_current_waypoint(set_wp)
         self.wait_current_waypoint(set_wp, timeout=10)
         self.progress("Reset mission")
         self.set_rc(7, 2000)
@@ -6783,7 +6781,7 @@ class AutoTestHeli(AutoTestCopter):
             raise NotAchievedException("load copter_AVC2013_mission failed")
 
         self.progress("Fly AVC mission from 1 to %u" % num_wp)
-        self.mavproxy.send('wp set 1\n')
+        self.set_current_waypoint(1)
 
         # wait for motor runup
         self.delay_sim_time(20)

Tools/autotest/arduplane.py

@@ -705,7 +705,7 @@ class AutoTestPlane(AutoTest):
         self.progress("Using %s to fly home" % filename)
         self.load_mission(filename)
         self.change_mode("AUTO")
-        self.mavproxy.send('wp set 7\n')
+        self.set_current_waypoint(7)
         self.drain_mav()
         # TODO: reflect on file to find this magic waypoint number?
         #        self.wait_waypoint(7, num_wp-1, timeout=500) # we
@@ -759,7 +759,7 @@ class AutoTestPlane(AutoTest):
 
             self.progress("Flying mission %s" % filename)
             self.load_mission(filename)
-            self.mavproxy.send('wp set 1\n')
+            self.set_current_waypoint(1)
             self.change_mode('AUTO')
             self.wait_ready_to_arm()
             self.arm_vehicle()
@@ -1019,7 +1019,7 @@ class AutoTestPlane(AutoTest):
         ex = None
         try:
             self.load_mission("plane-gripper-mission.txt")
-            self.mavproxy.send("wp set 1\n")
+            self.set_current_waypoint(1)
             self.change_mode('AUTO')
             self.wait_ready_to_arm()
             self.arm_vehicle()
@@ -1277,7 +1277,7 @@ class AutoTestPlane(AutoTest):
         self.set_parameter("SIM_PARA_PIN", 9)
 
         self.load_mission("plane-parachute-mission.txt")
-        self.mavproxy.send("wp set 1\n")
+        self.set_current_waypoint(1)
         self.change_mode('AUTO')
         self.wait_ready_to_arm()
         self.arm_vehicle()
@@ -1507,7 +1507,7 @@ class AutoTestPlane(AutoTest):
 
             '''ensure rangefinder gives height-above-ground'''
             self.load_mission("plane-gripper-mission.txt") # borrow this
-            self.mavproxy.send("wp set 1\n")
+            self.set_current_waypoint(1)
             self.change_mode('AUTO')
             self.wait_ready_to_arm()
             self.arm_vehicle()
@@ -1816,7 +1816,7 @@ class AutoTestPlane(AutoTest):
 
         self.load_mission('CMAC-soar.txt')
 
-        self.mavproxy.send("wp set 1\n")
+        self.set_current_waypoint(1)
         self.change_mode('AUTO')
         self.wait_ready_to_arm()
         self.arm_vehicle()
@@ -1923,7 +1923,7 @@ class AutoTestPlane(AutoTest):
 
     def fly_terrain_mission(self):
 
-        self.mavproxy.send("wp set 1\n")
+        self.set_current_waypoint(1)
         self.wait_ready_to_arm()
         self.arm_vehicle()
 

Tools/autotest/quadplane.py

@@ -275,7 +275,7 @@ class AutoTestQuadPlane(AutoTest):
 
         self.wait_disarmed(timeout=120) # give quadplane a long time to land
         # wait for blood sample here
-        self.mavproxy.send('wp set 20\n')
+        self.set_current_waypoint(20)
         self.wait_ready_to_arm()
         self.arm_vehicle()
         self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
@@ -343,7 +343,7 @@ class AutoTestQuadPlane(AutoTest):
         self.progress("Using %s to fly home" % filename)
         self.load_mission(filename)
         self.change_mode("AUTO")
-        self.mavproxy.send('wp set 7\n')
+        self.set_current_waypoint(7)
         self.wait_disarmed(timeout=timeout)
 
     def wait_level_flight(self, accuracy=5, timeout=30):

Tools/autotest/rover.py

@@ -3556,6 +3556,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.reboot_sitl()
 
     def test_gcs_mission(self):
+        '''check MAVProxy's waypoint handling of missions'''
         target_system = 1
         target_component = 1
         self.mavproxy.send('wp clear\n')