Tools: allow heli autotest to use different frame

Tools/autotest/arducopter.py

@@ -1317,18 +1317,26 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
     return True
 
 
-def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
+def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None):
     """Fly ArduCopter in SITL for AVC2013 mission."""
     global homeloc
 
+    if frame is None:
+        frame = 'heli'
+
     home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
-    sitl = util.start_SITL(binary, wipe=True, model='heli', home=home, speedup=speedup_default)
+    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
     mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
     mavproxy.expect('Received [0-9]+ parameters')
 
     # setup test parameters
-    mavproxy.send("param load %s/default_params/copter-heli.parm\n" % testdir)
-    mavproxy.expect('Loaded [0-9]+ parameters')
+    if params is None:
+        params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
+    if not isinstance(params, list):
+        params = [params]
+    for x in params:
+        mavproxy.send("param load %s\n" % os.path.join(testdir, x))
+        mavproxy.expect('Loaded [0-9]+ parameters')
     mavproxy.send("param set LOG_REPLAY 1\n")
     mavproxy.send("param set LOG_DISARMED 1\n")
     time.sleep(3)

Tools/autotest/autotest.py

@@ -305,7 +305,7 @@ def run_step(step):
         return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
 
     if step == 'fly.CopterAVC':
-        return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
+        return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
 
     if step == 'fly.ArduPlane':
         return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)