Tools: autotest: reduce output lines in NavDelay test

Also remove pointless (unclosed) contexts and try blocks

Tools/autotest/arducopter.py

@@ -1564,19 +1564,13 @@ class AutoTestCopter(AutoTest):
 
         self.load_mission("copter_nav_delay.txt")
 
-        self.mavproxy.send('mode loiter\n')
+        self.set_parameter("DISARM_DELAY", 0)
-        self.wait_heartbeat()
-        self.wait_mode('LOITER')
-        self.wait_ready_to_arm()
 
-        self.context_push()
+        self.change_mode("LOITER")
+        self.wait_ready_to_arm()
 
-        ex = None
-        try:
         self.arm_vehicle()
-            self.mavproxy.send('mode auto\n')
+        self.change_mode("AUTO")
-            self.wait_mode('AUTO')
-            self.set_parameter("DISARM_DELAY", 0)
         self.set_rc(3, 1600)
         count_start = -1
         count_stop = -1
@@ -1588,19 +1582,20 @@ class AutoTestCopter(AutoTest):
             if now - tstart > 120:
                 raise AutoTestTimeoutException("Did not disarm as expected")
             m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
+            at_delay_item = ""
+            if m.seq == 3:
+                at_delay_item = "(At delay item)"
+                if count_start == -1:
+                    count_start = now
             if ((now - last_mission_current_msg) > 1 or m.seq != last_seq):
                 dist = None
                 x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
                 if x is not None:
                     dist = x.wp_dist
-                        self.progress("MISSION_CURRENT.seq=%u dist=%s" %
+                    self.progress("MISSION_CURRENT.seq=%u dist=%s %s" %
-                                      (m.seq, dist))
+                                  (m.seq, dist, at_delay_item))
                 last_mission_current_msg = self.get_sim_time_cached()
                 last_seq = m.seq
-                if m.seq == 3:
-                    self.progress("At delay item")
-                    if count_start == -1:
-                        count_start = now
             if m.seq > 3:
                 if count_stop == -1:
                     count_stop = now
@@ -1611,15 +1606,6 @@ class AutoTestCopter(AutoTest):
         if calculated_delay < want_delay:
             raise NotAchievedException("Did not delay for long enough")
 
-        except Exception as e:
-            self.progress("Exception caught")
-            ex = e
-
-        self.zero_throttle()
-
-        if ex is not None:
-            raise ex
-
     def test_rangefinder(self):
         ex = None
         self.context_push()
@@ -1966,11 +1952,8 @@ class AutoTestCopter(AutoTest):
 
         self.load_mission("copter_nav_delay.txt")
 
-        self.progress("Starting mission")
+        self.change_mode("LOITER")
 
-        self.mavproxy.send('mode loiter\n')  # stabilize mode
-        self.wait_heartbeat()
-        self.wait_mode('LOITER')
         self.wait_ready_to_arm()
 
         delay_item_seq = 3
@@ -1979,13 +1962,8 @@ class AutoTestCopter(AutoTest):
         reset_at_m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
         reset_at = reset_at_m.time_unix_usec/1000000
 
-        self.context_push()
-
-        ex = None
-        try:
         self.arm_vehicle()
-            self.mavproxy.send('mode auto\n')  # stabilize mode
+        self.change_mode("AUTO")
-            self.wait_mode('AUTO')
         self.set_rc(3, 1600)
         count_stop = -1
         tstart = self.get_sim_time()
@@ -1994,9 +1972,10 @@ class AutoTestCopter(AutoTest):
             if now - tstart > 120:
                 raise AutoTestTimeoutException("Did not disarm as expected")
             m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
-                self.progress("MISSION_CURRENT.seq=%u" % (m.seq,))
+            at_delay_item = ""
             if m.seq == delay_item_seq:
-                    self.progress("At delay item")
+                at_delay_item = "(delay item)"
+            self.progress("MISSION_CURRENT.seq=%u %s" % (m.seq, at_delay_item))
             if m.seq > delay_item_seq:
                 if count_stop == -1:
                     count_stop_m = self.mav.recv_match(type='SYSTEM_TIME',
@@ -2009,24 +1988,11 @@ class AutoTestCopter(AutoTest):
         if error > 2:
             raise NotAchievedException("delay outside expectations")
 
-        except Exception as e:
-            self.progress("Exception caught")
-            ex = e
-
-        self.zero_throttle()
-
-        if ex is not None:
-            raise ex
-
     def fly_nav_takeoff_delay_abstime(self):
         """make sure taking off at a specific time works"""
         self.load_mission("copter_nav_delay_takeoff.txt")
 
-        self.progress("Starting mission")
+        self.change_mode("LOITER")
-
-        self.mavproxy.send('mode loiter\n')  # stabilize mode
-        self.wait_heartbeat()
-        self.wait_mode('LOITER')
         self.wait_ready_to_arm()
 
         delay_item_seq = 2
@@ -2034,13 +2000,9 @@ class AutoTestCopter(AutoTest):
         delay_for_seconds = 77
         reset_at = self.get_sim_time_cached()
 
-        self.context_push()
-
-        ex = None
-        try:
         self.arm_vehicle()
-            self.mavproxy.send('mode auto\n')  # stabilize mode
+        self.change_mode("AUTO")
-            self.wait_mode('AUTO')
+
         self.set_rc(3, 1600)
 
         # should not take off for about least 77 seconds
@@ -2067,15 +2029,6 @@ class AutoTestCopter(AutoTest):
         if not took_off:
             raise NotAchievedException("Did not take off")
 
-        except Exception as e:
-            self.progress("Exception caught")
-            ex = e
-
-        self.zero_throttle()
-
-        if ex is not None:
-            raise ex
-
     def test_setting_modes_via_modeswitch(self):
         self.context_push()
         ex = None