From c396d15890b1a00a600ef33d77242b163a349424 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 20 Jan 2021 08:17:57 +1100 Subject: [PATCH] Revert "autotest: ensure defaults files don't set already-default-values" This reverts commit 3d431cd4f17dfe8462e7b8935e090e0ae74fd59d. It breaks MissionPlanner SITL. We can re-apply once MissionPlanner copes with external_model. --- Tools/autotest/antennatracker.py | 6 +-- Tools/autotest/arducopter.py | 12 ++---- Tools/autotest/arduplane.py | 6 +-- Tools/autotest/ardusub.py | 1 - Tools/autotest/common.py | 59 +---------------------------- Tools/autotest/pysim/vehicleinfo.py | 10 ----- Tools/autotest/quadplane.py | 6 +-- Tools/autotest/rover.py | 6 +-- 8 files changed, 13 insertions(+), 93 deletions(-) diff --git a/Tools/autotest/antennatracker.py b/Tools/autotest/antennatracker.py index 3e2be3cb6c..488c07d474 100644 --- a/Tools/autotest/antennatracker.py +++ b/Tools/autotest/antennatracker.py @@ -149,12 +149,10 @@ class AutoTestTracker(AutoTest): comparator=operator.le) def disabled_tests(self): - ret = super(AutoTestTracker, self).disabled_tests() - ret.update({ + return { "ArmFeatures": "See https://github.com/ArduPilot/ardupilot/issues/10652", "CPUFailsafe": " tracker doesn't have a CPU failsafe", - }) - return ret + } def tests(self): '''return list of all tests''' diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index a9176aa41d..17fdf4c3fa 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -6347,13 +6347,11 @@ class AutoTestCopter(AutoTest): return ret def disabled_tests(self): - ret = super(AutoTestCopter, self).disabled_tests() - ret.update({ + return { "Parachute": "See https://github.com/ArduPilot/ardupilot/issues/4702", "HorizontalAvoidFence": "See https://github.com/ArduPilot/ardupilot/issues/11525", "AltEstimation": "See https://github.com/ArduPilot/ardupilot/issues/15191", - }) - return ret + } class AutoTestHeli(AutoTestCopter): @@ -6652,11 +6650,9 @@ class AutoTestHeli(AutoTestCopter): return ret def disabled_tests(self): - ret = super(AutoTestHeli, self).disabled_tests() - ret.update({ + return { "SplineWaypoint": "See https://github.com/ArduPilot/ardupilot/issues/14593", - }) - return ret + } class AutoTestCopterTests1(AutoTestCopter): def tests(self): diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index e260d40227..ffcff890e3 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -2204,7 +2204,5 @@ class AutoTestPlane(AutoTest): return ret def disabled_tests(self): - ret = super(AutoTestPlane, self).disabled_tests() - ret.update({ - }) - return ret + return { + } diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py index 126417c40e..b88d216d86 100644 --- a/Tools/autotest/ardusub.py +++ b/Tools/autotest/ardusub.py @@ -342,7 +342,6 @@ class AutoTestSub(AutoTest): ret = super(AutoTestSub, self).disabled_tests() ret.update({ "ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", - "FrameDefaults": "Sub maintainers want all values in files", }) return ret diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py index 8c29e1a9cd..2c67b59bce 100644 --- a/Tools/autotest/common.py +++ b/Tools/autotest/common.py @@ -7828,9 +7828,7 @@ switch value''' self.test_parameters_download() def disabled_tests(self): - return { - "FrameDefaults": "Time constraints say we might not want to run this", - } + return {} def test_parameter_checks_poscontrol(self, param_prefix): self.wait_ready_to_arm() @@ -8985,56 +8983,6 @@ switch value''' if ex is not None: raise ex - def check_frame_defaults(self, model): - '''check each of the entries in VehicleInfo to see if they override - parameters they shouldn't''' - - defaults_filepath = self.model_defaults_filepath(self.vehicleinfo_key(), model) - # we start the model but without passing through the defaults: - self.customise_SITL_commandline( - [], - model=model, - defaults_filepath=[], - wipe=True) - failed = [] - for filepath in defaults_filepath: - parameters = mavparm.MAVParmDict() - if not os.path.exists(filepath): -# raise NotAchievedException("Bad parameter file referenced: %s" % str(filepath)) - failed.append("Bad parameter file referenced: %s" % str(filepath)) - parameters.load(filepath) - for (file_param_name, file_param_value) in parameters.items(): - try: - current_value = self.get_parameter(file_param_name, verbose=False) - except NotAchievedException as e: - failed.append("%s in (%s) but not in firmware" % - (filepath, file_param_name)) - continue - if current_value == parameters[file_param_name]: - failed.append("%s has same value (%f) in (%s) and in firmware" % - (filepath, current_value, file_param_name)) - continue - if len(failed): - self.progress("Frame (%s) failed:" % (model, )) - for i in failed: - self.progress(" %s" % i) - return False - return True - - def check_frames_defaults(self): - vinfo = vehicleinfo.VehicleInfo() - success = True - frames = vinfo.options[self.vehicleinfo_key()]["frames"] - for frame in frames: - if frames[frame].get("external_model", False): - continue - self.progress("Checking frame (%s)" % str(frame)) - if not self.check_frame_defaults(frame): - success = False - self.customise_SITL_commandline(["--unhide-groups"]) - if not success: - raise NotAchievedException("Defaults files validation failed") - def tests(self): return [ ("PIDTuning", @@ -9074,10 +9022,6 @@ switch value''' ("InitialMode", "Test initial mode switching", self.test_initial_mode), - - ("FrameDefaults", - "Test Frame defaults file", - self.check_frames_defaults), ] def post_tests_announcements(self): @@ -9112,7 +9056,6 @@ switch value''' return ret def mavfft_fttd(self, sensor_type, sensor_instance, since, until): - '''display fft for raw ACC data in current logfile''' '''object to store data about a single FFT plot''' diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py index 9a9b498251..99b6e8fe79 100644 --- a/Tools/autotest/pysim/vehicleinfo.py +++ b/Tools/autotest/pysim/vehicleinfo.py @@ -106,19 +106,16 @@ class VehicleInfo(object): "IrisRos": { "waf_target": "bin/arducopter", "default_params_filename": "default_params/copter.parm", - "external_model": True, }, "gazebo-iris": { "waf_target": "bin/arducopter", "default_params_filename": ["default_params/copter.parm", "default_params/gazebo-iris.parm"], - "external_model": True, }, "airsim-copter": { "waf_target": "bin/arducopter", "default_params_filename": ["default_params/copter.parm", "default_params/airsim-quadX.parm"], - "external_model": True, }, # HELICOPTER "heli": { @@ -132,7 +129,6 @@ class VehicleInfo(object): }, "heli-compound": { "waf_target": "bin/arducopter-heli", - "default_params_filename": ["default_params/copter-heli.parm"], }, "singlecopter": { "waf_target": "bin/arducopter", @@ -146,11 +142,9 @@ class VehicleInfo(object): "scrimmage-copter" : { "waf_target": "bin/arducopter", "default_params_filename": "default_params/copter.parm", - "external_model": True, }, "calibration": { "extra_mavlink_cmds": "module load sitl_calibration;", - "default_params_filename": [], }, "Callisto": { "model": "octa-quad:@ROMFS/models/Callisto.json", @@ -276,17 +270,14 @@ class VehicleInfo(object): "waf_target": "bin/ardurover", "default_params_filename": ["default_params/rover.parm", "default_params/rover-skid.parm"], - "external_model": True, }, "airsim-rover": { "waf_target": "bin/ardurover", "default_params_filename": ["default_params/rover.parm", "default_params/airsim-rover.parm"], - "external_model": True, }, "calibration": { "extra_mavlink_cmds": "module load sitl_calibration;", - "default_params_filename": [], }, }, }, @@ -312,7 +303,6 @@ class VehicleInfo(object): "frames": { "tracker": { "waf_target": "bin/antennatracker", - "default_params_filename": [], }, }, }, diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py index 13fba13250..cd943849bd 100644 --- a/Tools/autotest/quadplane.py +++ b/Tools/autotest/quadplane.py @@ -567,13 +567,11 @@ class AutoTestQuadPlane(AutoTest): return "MANUAL" def disabled_tests(self): - ret = super(AutoTestQuadPlane, self).disabled_tests() - ret.update({ + return { "QAutoTune": "See https://github.com/ArduPilot/ardupilot/issues/10411", "FRSkyPassThrough": "Currently failing", "CPUFailsafe": "servo channel values not scaled like ArduPlane", - }) - return ret + } def test_pilot_yaw(self): self.takeoff(10, mode="QLOITER") diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py index 2dfc1f32f3..25caeb1e6b 100644 --- a/Tools/autotest/rover.py +++ b/Tools/autotest/rover.py @@ -5640,12 +5640,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) return ret def disabled_tests(self): - ret = super(AutoTestRover, self).disabled_tests() - ret.update({ + return { "DriveMaxRCIN": "currently triggers Arithmetic Exception", "SlewRate": "got timing report failure on CI", - }) - return ret + } def rc_defaults(self): ret = super(AutoTestRover, self).rc_defaults()