From 10638d72a7814abea73b4721c93b4d745d28951a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 25 Oct 2016 16:59:42 +1100
Subject: [PATCH] Tools: useful plane run script

---
 Tools/scripts/runplanetest.py | 56 +++++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)
 create mode 100755 Tools/scripts/runplanetest.py

diff --git a/Tools/scripts/runplanetest.py b/Tools/scripts/runplanetest.py
new file mode 100755
index 0000000000..aba286dad2
--- /dev/null
+++ b/Tools/scripts/runplanetest.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+
+import pexpect, time, sys
+from pymavlink import mavutil
+
+def wait_heartbeat(mav, timeout=10):
+    '''wait for a heartbeat'''
+    start_time = time.time()
+    while time.time() < start_time+timeout:
+        if mav.recv_match(type='HEARTBEAT', blocking=True, timeout=0.5) is not None:
+            return
+    failure("Failed to get heartbeat")    
+
+def wait_mode(mav, modes, timeout=10):
+    '''wait for one of a set of flight modes'''
+    start_time = time.time()
+    last_mode = None
+    while time.time() < start_time+timeout:
+        wait_heartbeat(mav, timeout=10)
+        if mav.flightmode != last_mode:
+            print("Flightmode %s" % mav.flightmode)
+            last_mode = mav.flightmode
+        if mav.flightmode in modes:
+            return
+    print("Failed to get mode from %s" % modes)
+    sys.exit(1)
+
+def wait_time(mav, simtime):
+    '''wait for simulation time to pass'''
+    imu = mav.recv_match(type='RAW_IMU', blocking=True)
+    t1 = imu.time_usec*1.0e-6
+    while True:
+        imu = mav.recv_match(type='RAW_IMU', blocking=True)
+        t2 = imu.time_usec*1.0e-6
+        if t2 - t1 > simtime:
+            break
+
+cmd = 'sim_vehicle.py -j4 -D -f plane'
+mavproxy = pexpect.spawn(cmd, logfile=sys.stdout, timeout=30)
+mavproxy.expect("Ready to fly")
+
+mav = mavutil.mavlink_connection('127.0.0.1:14550')
+
+wait_mode(mav, ['MANUAL'])
+mavproxy.send('wp list\n')
+mavproxy.expect('Requesting')
+wait_time(mav, 30)
+mavproxy.send('arm throttle\n')
+mavproxy.send('auto\n')
+wait_mode(mav, ['AUTO'])
+mavproxy.send('module load console\n')
+mavproxy.send('module load map\n')
+mavproxy.send('map set showsimpos 1\n')
+mavproxy.logfile = None
+mavproxy.interact()
+