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autotest: cope with existing auto mode via mode change

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This commit is contained in:
Andrew Tridgell 2013-01-14 18:03:10 +11:00
parent a8b9e5cf5b
commit da90dfa454
2 changed files with 7 additions and 2 deletions
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2
Tools/autotest/arducopter.py
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@ -292,7 +292,7 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO')
#wait_altitude(mav, 30, 40)
ret = wait_waypoint(mav, 0, num_wp, timeout=500)
ret = wait_waypoint(mav, 0, num_wp, timeout=500, mode='AUTO')
print("test: MISSION COMPLETE: passed=%s" % ret)
# wait here until ready
mavproxy.send('switch 5\n')

7
Tools/autotest/common.py
View File

@ -160,7 +160,7 @@ def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height
print("Failed to attain location")
return False
def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, timeout=400):
def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, timeout=400, mode=None):
'''wait for waypoint ranges'''
tstart = time.time()
# this message arrives after we set the current WP
@ -178,6 +178,11 @@ def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, time
wp_dist = m.wp_dist
m = mav.recv_match(type='VFR_HUD', blocking=True)
# if we exited the required mode, finish
if mode is not None and mav.flightmode != mode:
print('Exited %s mode' % mode)
return True
print("test: WP %u (wp_dist=%u Alt=%d), current_wp: %u, wpnum_end: %u" % (seq, wp_dist, m.alt, current_wp, wpnum_end))
if seq == current_wp+1 or (seq > current_wp+1 and allow_skip):
print("test: Starting new waypoint %u" % seq)