Tools: copter : make zigzag more verbose

Tools/autotest/arducopter.py

@@ -2587,59 +2587,74 @@ class AutoTestCopter(AutoTest):
         self.takeoff(alt_min=5, mode='LOITER')
 
         ZIGZAG = 24
-        j=0
-        while j<4:  # conduct test for all 4 directions
+        j = 0
+        self.start_subtest("Conduct ZigZag test for all 4 directions")
+        while j < 4:
+            self.progress("## Align heading with the run-way (j=%d)##" % j)
             self.set_rc(8, 1500)
             self.set_rc(4, 1420)
-            self.wait_heading(352-j*90)  # align heading with the run-way
+            self.wait_heading(352-j*90)
             self.set_rc(4, 1500)
             self.change_mode(ZIGZAG)
+            self.progress("## Record Point A ##")
             self.set_rc(8, 1100)  # record point A
             self.set_rc(1, 1700)  # fly side-way for 20m
             self.wait_distance(20)
             self.set_rc(1, 1500)
             self.wait_groundspeed(0, 0.20)   # wait until the copter slows down
+            self.progress("## Record Point A ##")
             self.set_rc(8, 1500)    # pilot always have to cross mid position when changing for low to high position
             self.set_rc(8, 1900)    # record point B
 
             i=1
-            while i<2:                 # run zigzag A->B and B->A for 5 times
-                self.set_rc(2, 1300)    # fly forward for 10 meter
+            while i < 2:
+                self.start_subtest("Run zigzag A->B and B->A (i=%d)" % i)
+                self.progress("## fly forward for 10 meter ##")
+                self.set_rc(2, 1300)
                 self.wait_distance(10)
                 self.set_rc(2, 1500)    # re-centre pitch rc control
-                self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+                self.wait_groundspeed(0, 0.2)   # wait until the copter slows down
                 self.set_rc(8, 1500)    # switch to mid position
-                self.set_rc(8, 1100)    # auto execute vector BA
+                self.progress("## auto execute vector BA ##")
+                self.set_rc(8, 1100)
                 self.wait_distance(17)  # wait for it to finish
-                self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+                self.wait_groundspeed(0, 0.2)   # wait until the copter slows down
 
+                self.progress("## fly forward for 10 meter ##")
                 self.set_rc(2, 1300)    # fly forward for 10 meter
                 self.wait_distance(10)
                 self.set_rc(2, 1500)    # re-centre pitch rc control
-                self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+                self.wait_groundspeed(0, 0.2)   # wait until the copter slows down
                 self.set_rc(8, 1500)    # switch to mid position
-                self.set_rc(8, 1900)    # auto execute vector AB
+                self.progress("## auto execute vector AB ##")
+                self.set_rc(8, 1900)
                 self.wait_distance(17)  # wait for it to finish
-                self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+                self.wait_groundspeed(0, 0.2)   # wait until the copter slows down
                 i=i+1
             # test the case when pilot switch to manual control during the auto flight
+            self.start_subtest("test the case when pilot switch to manual control during the auto flight")
+            self.progress("## fly forward for 10 meter ##")
             self.set_rc(2, 1300)    # fly forward for 10 meter
             self.wait_distance(10)
             self.set_rc(2, 1500)    # re-centre pitch rc control
-            self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
+            self.wait_groundspeed(0, 0.2)   # wait until the copter slows down
             self.set_rc(8, 1500)    # switch to mid position
+            self.progress("## auto execute vector BA ##")
             self.set_rc(8, 1100)    # switch to low position, auto execute vector BA
             self.wait_distance(8)   # purposely switch to manual halfway
             self.set_rc(8, 1500)
             self.wait_groundspeed(0, 0.2)   # copter should slow down here
+            self.progress("## Manual control to fly forward ##")
             self.set_rc(2, 1300)    # manual control to fly forward
             self.wait_distance(8)
             self.set_rc(2, 1500)    # re-centre pitch rc control
             self.wait_groundspeed(0, 0.2)   # wait until the copter slows down
+            self.progress("## continue vector BA ##")
             self.set_rc(8, 1100)    # copter should continue mission here
             self.wait_distance(8)   # wait for it to finish rest of BA
             self.wait_groundspeed(0, 0.2)   #wait until the copter slows down
             self.set_rc(8, 1500)    # switch to mid position
+            self.progress("## auto execute vector AB ##")
             self.set_rc(8, 1900)    # switch to execute AB again
             self.wait_distance(17)  # wait for it to finish
             self.wait_groundspeed(0, 0.2)   # wait until the copter slows down