diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py index f4ba30b825..e2b1e6c62d 100644 --- a/Tools/autotest/apmrover2.py +++ b/Tools/autotest/apmrover2.py @@ -1128,11 +1128,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1'] return self.check_mission_items_same(check_atts, want, got, skip_first_item=True) - def check_mission_item_upload_download(self, items, type, mission_type): + def check_mission_item_upload_download(self, items, itype, mission_type): self.progress("check %s _upload/download: upload %u items" % - (type, len(items),)) + (itype, len(items),)) self.upload_using_mission_protocol(mission_type, items) - self.progress("check %s upload/download: download items" % type) + self.progress("check %s upload/download: download items" % itype) downloaded_items = self.download_using_mission_protocol(mission_type) self.progress("Downloaded items: (%s)" % str(downloaded_items)) if len(items) != len(downloaded_items): @@ -3504,7 +3504,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) def drive_somewhere_stop_at_boundary(self, loc, expected_stopping_point, - expected_distance_epsilon=1, + expected_distance_epsilon=1.0, target_system=1, target_component=1, timeout=120): @@ -4323,9 +4323,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) target_component=target_component) return # twosquares is currently disabled because of the requirement to have an inclusion fence (which it doesn't have ATM) - self.test_poly_fence_object_avoidance_guided_two_squares( - target_system=target_system, - target_component=target_component) + # self.test_poly_fence_object_avoidance_guided_two_squares( + # target_system=target_system, + # target_component=target_component) def test_poly_fence_object_avoidance_auto(self, target_system=1, target_component=1): self.load_fence("rover-path-planning-fence.txt") @@ -4714,10 +4714,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) ex = None example_script = "simple_loop.lua" messages = [] - def my_message_hook(mav, m): - if m.get_type() != 'STATUSTEXT': + def my_message_hook(mav, message): + if message.get_type() != 'STATUSTEXT': return - messages.append(m) + messages.append(message) self.install_message_hook(my_message_hook) try: self.set_parameter("SCR_ENABLE", 1) @@ -4748,10 +4748,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) ex = None example_script = "scripting_test.lua" messages = [] - def my_message_hook(mav, m): - if m.get_type() != 'STATUSTEXT': + def my_message_hook(mav, message): + if message.get_type() != 'STATUSTEXT': return - messages.append(m) + messages.append(message) self.install_message_hook(my_message_hook) try: self.set_parameter("SCR_ENABLE", 1) @@ -4783,10 +4783,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) ex = None example_script = "hello_world.lua" messages = [] - def my_message_hook(mav, m): - if m.get_type() != 'STATUSTEXT': + def my_message_hook(mav, message): + if message.get_type() != 'STATUSTEXT': return - messages.append(m) + messages.append(message) self.install_message_hook(my_message_hook) try: self.set_parameter("SCR_ENABLE", 1) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index e84a3341d8..6133af2864 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -4126,9 +4126,9 @@ class AutoTestCopter(AutoTest): if ex is not None: raise ex - def global_position_int_for_location(self, loc, time, heading=0): + def global_position_int_for_location(self, loc, time_boot, heading=0): return self.mav.mav.global_position_int_encode( - int(time * 1000), # time_boot_ms + int(time_boot * 1000), # time_boot_ms int(loc.lat * 1e7), int(loc.lng * 1e7), int(loc.alt * 1000), # alt in mm diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py index 5d3e02ed21..e13abc9d30 100644 --- a/Tools/autotest/common.py +++ b/Tools/autotest/common.py @@ -185,7 +185,7 @@ class Telem(object): pass self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.port.connect(self.destination_address) - self.port.setblocking(0) + self.port.setblocking(False) self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1) self.connected = True self.progress("Connected") @@ -495,8 +495,7 @@ class FRSkySPort(FRSky): self.id_descriptions = { 0x5000: "status text (dynamic)", 0x5006: "Attitude and range (dynamic)", - 0x800: "GPS lat (600 with 1 sensor)", - 0x800: "GPS lon (600 with 1 sensor)", + 0x800: "GPS lat or lon (600 with 1 sensor)", 0x5005: "Vel and Yaw", 0x5001: "AP status", 0x5002: "GPS Status", @@ -513,7 +512,7 @@ class FRSkySPort(FRSky): 0x21: "BARO_ALT_AP", 0x30: "VARIO", 0x39: "VFAS", - 0x800: "GPS", + # 0x800: "GPS", ## comments as duplicated dictrionary key } self.sensors_to_poll = [ @@ -1530,22 +1529,22 @@ class AutoTest(ABC): } def set_rc_from_map(self, _map, timeout=2000): - copy = _map.copy() + map_copy = _map.copy() tstart = self.get_sim_time() - while len(copy.keys()): + while len(map_copy.keys()): if self.get_sim_time_cached() - tstart > timeout: raise SetRCTimeout("Failed to set RC channels") - for chan in copy: - value = copy[chan] + for chan in map_copy: + value = map_copy[chan] self.send_set_rc(chan, value) m = self.mav.recv_match(type='RC_CHANNELS', blocking=True) self.progress("m: %s" % m) new = dict() - for chan in copy: + for chan in map_copy: chan_pwm = getattr(m, "chan" + str(chan) + "_raw") - if chan_pwm != copy[chan]: - new[chan] = copy[chan] - copy = new + if chan_pwm != map_copy[chan]: + new[chan] = map_copy[chan] + map_copy = new def set_rc_default(self): """Setup all simulated RC control to 1500.""" @@ -2097,13 +2096,13 @@ class AutoTest(ABC): mavutil.location(loc1_lat*1e-7, loc1_lon*1e-7), mavutil.location(loc2_lat*1e-7, loc2_lon*1e-7)) - dlat = loc2_lat - loc1_lat - dlong = loc2_lon - loc1_lon - - dlat /= 10000000.0 - dlong /= 10000000.0 - - return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5 + # dlat = loc2_lat - loc1_lat + # dlong = loc2_lon - loc1_lon + # + # dlat /= 10000000.0 + # dlong /= 10000000.0 + # + # return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5 @staticmethod def get_bearing(loc1, loc2): @@ -2791,8 +2790,8 @@ class AutoTest(ABC): for desc in self.test_timings.keys(): if len(desc) > longest: longest = len(desc) - for desc, test_time in sorted(self.test_timings.iteritems(), - key=self.show_test_timings_key_sorter): + for desc, test_time in sorted(self.test_timings.items(), + key=self.show_test_timings_key_sorter): fmt = "%" + str(longest) + "s: %.2fs" self.progress(fmt % (desc, test_time)) @@ -4605,16 +4604,16 @@ switch value''' # This, at least makes sure we're getting some of each # message. These are ordered according to the wfq scheduler wants = { - 0x5000: lambda x : True, - 0x5006: lambda x : True, - 0x800: lambda x : True, + 0x5000: lambda xx : True, + 0x5006: lambda xx : True, + 0x800: lambda xx : True, 0x5005: self.tfp_validate_vel_and_yaw, - 0x5001: lambda x : True, - 0x5002: lambda x : True, - 0x5004: lambda x : True, + 0x5001: lambda xx : True, + 0x5002: lambda xx : True, + 0x5004: lambda xx : True, # 0x5008: lambda x : True, # no second battery, so this doesn't arrive 0x5003: self.tfp_validate_battery1, - 0x5007: lambda x : True, + 0x5007: lambda xx : True, } tstart = self.get_sim_time_cached() while len(wants):