Tools: update arducopter.py to use new wait functions

Tools/autotest/arducopter.py

@@ -267,16 +267,14 @@ class AutoTestCopter(AutoTest):
 
     def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
         """Change altitude."""
-        m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
-        alt = m.relative_alt / 1000.0 # mm -> m
-        if alt < alt_min:
-            self.progress("Rise to alt:%u from %u" % (alt_min, alt))
-            self.set_rc(3, climb_throttle)
-            self.wait_altitude(alt_min, (alt_min + 5), relative=True)
-        else:
-            self.progress("Lower to alt:%u from %u" % (alt_min, alt))
-            self.set_rc(3, descend_throttle)
-            self.wait_altitude((alt_min - 5), alt_min, relative=True)
+        def adjust_altitude(current_alt, target_alt, accuracy):
+            if math.fabs(current_alt - target_alt) <= accuracy:
+                self.hover()
+            elif current_alt < target_alt:
+                self.set_rc(3, climb_throttle)
+            else:
+                self.set_rc(3, descend_throttle)
+        self.wait_altitude((alt_min - 5), alt_min, relative=True, called_function=lambda current_alt, target_alt: adjust_altitude(current_alt, target_alt, 1))
         self.hover()
 
     def setGCSfailsafe(self,paramValue=0):
@@ -382,7 +380,7 @@ class AutoTestCopter(AutoTest):
         self.progress("timeleft = %u" % time_left)
         if time_left < 20:
             time_left = 20
-        self.wait_altitude(-10, 10, time_left, relative=True)
+        self.wait_altitude(-10, 10, timeout=time_left, relative=True)
         self.set_rc(3, 1500)
         self.save_wp()
 
@@ -4158,7 +4156,7 @@ class AutoTestCopter(AutoTest):
             self.set_rc(3, 1500)
             # move away a little
             self.set_rc(2, 1550)
-            self.wait_distance(5)
+            self.wait_distance(5, accuracy=1)
             self.set_rc(2, 1500)
             self.mavproxy.send('mode loiter\n')
             self.wait_mode('LOITER')