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Tools: add timout to arm/disarm functions

mission-4.1.18
Pierre Kancir 7 years ago committed by Peter Barker
parent
8c391291a3
commit
b80937cbd4
1 changed files with 6 additions and 8 deletions
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  1. 14
      Tools/autotest/common.py

14
Tools/autotest/common.py
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@ -449,7 +449,7 @@ class AutoTest(ABC):
"""Return true if vehicle is armed and safetyoff""" """Return true if vehicle is armed and safetyoff"""
return self.mav.motors_armed() return self.mav.motors_armed()
def arm_vehicle(self): def arm_vehicle(self, timeout=20):
"""Arm vehicle with mavlink arm message.""" """Arm vehicle with mavlink arm message."""
self.progress("Arm motors with MAVLink cmd") self.progress("Arm motors with MAVLink cmd")
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
@ -462,7 +462,7 @@ class AutoTest(ABC):
0, 0,
) )
tstart = self.get_sim_time() tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 20: while self.get_sim_time() - tstart < timeout:
self.mav.wait_heartbeat() self.mav.wait_heartbeat()
if self.mav.motors_armed(): if self.mav.motors_armed():
self.progress("Motors ARMED") self.progress("Motors ARMED")
@ -470,7 +470,7 @@ class AutoTest(ABC):
self.progress("Unable to ARM with mavlink") self.progress("Unable to ARM with mavlink")
raise AutoTestTimeoutException() raise AutoTestTimeoutException()
def disarm_vehicle(self): def disarm_vehicle(self, timeout=20):
"""Disarm vehicle with mavlink disarm message.""" """Disarm vehicle with mavlink disarm message."""
self.progress("Disarm motors with MAVLink cmd") self.progress("Disarm motors with MAVLink cmd")
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
@ -483,7 +483,7 @@ class AutoTest(ABC):
0, 0,
) )
tstart = self.get_sim_time() tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 20: while self.get_sim_time() - tstart < timeout:
self.mav.wait_heartbeat() self.mav.wait_heartbeat()
if not self.mav.motors_armed(): if not self.mav.motors_armed():
self.progress("Motors DISARMED") self.progress("Motors DISARMED")
@ -507,13 +507,12 @@ class AutoTest(ABC):
self.progress("DISARMED") self.progress("DISARMED")
return True return True
def arm_motors_with_rc_input(self): def arm_motors_with_rc_input(self, timeout=20):
"""Arm motors with radio.""" """Arm motors with radio."""
self.progress("Arm motors with radio") self.progress("Arm motors with radio")
self.set_throttle_zero() self.set_throttle_zero()
self.mavproxy.send('rc 1 2000\n') self.mavproxy.send('rc 1 2000\n')
tstart = self.get_sim_time() tstart = self.get_sim_time()
timeout = 15
while self.get_sim_time() < tstart + timeout: while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat() self.mav.wait_heartbeat()
if not self.mav.motors_armed(): if not self.mav.motors_armed():
@ -526,13 +525,12 @@ class AutoTest(ABC):
self.mavproxy.send('rc 1 1500\n') self.mavproxy.send('rc 1 1500\n')
return False return False
def disarm_motors_with_rc_input(self): def disarm_motors_with_rc_input(self, timeout=20):
"""Disarm motors with radio.""" """Disarm motors with radio."""
self.progress("Disarm motors with radio") self.progress("Disarm motors with radio")
self.set_throttle_zero() self.set_throttle_zero()
self.mavproxy.send('rc 1 1000\n') self.mavproxy.send('rc 1 1000\n')
tstart = self.get_sim_time() tstart = self.get_sim_time()
timeout = 15
while self.get_sim_time() < tstart + timeout: while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat() self.mav.wait_heartbeat()
if not self.mav.motors_armed(): if not self.mav.motors_armed():

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