Tools: autotest: option to run different frame

Tools/autotest/arducopter.py

@@ -17,6 +17,9 @@ from pymavlink import mavutil, mavwp
 
 from common import *
 from pysim import util
+from pysim import vehicleinfo
+
+vinfo = vehicleinfo.VehicleInfo()
 
 # get location of scripts
 testdir = os.path.dirname(os.path.realpath(__file__))
@@ -957,7 +960,7 @@ def setup_rc(mavproxy):
     mavproxy.send('rc 3 1000\n')
 
 
-def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame='+', params_file=None):
+def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params_file=None):
     """Fly ArduCopter in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -965,6 +968,9 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
     """
     global homeloc
 
+    if frame is None:
+        frame = '+'
+
     home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
     sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
     mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
@@ -972,8 +978,11 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
 
     # setup test parameters
     if params_file is None:
-        params_file = "{testdir}/default_params/copter.parm"
-    mavproxy.send("param load %s\n" % params_file.format(testdir=testdir))
+        params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
+        if not isinstance(params, list):
+            params = [params]
+        for x in params:
+            mavproxy.send("param load %s\n" % os.path.join(testdir, x))
     mavproxy.expect('Loaded [0-9]+ parameters')
     mavproxy.send("param set LOG_REPLAY 1\n")
     mavproxy.send("param set LOG_DISARMED 1\n")

Tools/autotest/autotest.py

@@ -168,6 +168,7 @@ parser.add_option("--valgrind", default=False, action='store_true', help='run Ar
 parser.add_option("--gdb", default=False, action='store_true', help='run ArduPilot binaries under gdb')
 parser.add_option("--debug", default=False, action='store_true', help='make built binaries debug binaries')
 parser.add_option("-j", default=None, type='int', help='build CPUs')
+parser.add_option("--frame", type='string', default=None, help='specify frame type')
 
 opts, args = parser.parse_args()
 
@@ -301,7 +302,7 @@ def run_step(step):
         return get_default_params('ArduSub', binary)
 
     if step == 'fly.ArduCopter':
-        return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
+        return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
 
     if step == 'fly.CopterAVC':
         return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)