From 4928ec18afa100d51063421ceb1e0109b64fff71 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 1 May 2021 19:37:55 +1000
Subject: [PATCH] autotest: remove retry loop from within fly_dynamic_notches

We retried externally to the test - may as well do so within
---
 Tools/autotest/arducopter.py | 85 +++++++++++++++++-------------------
 1 file changed, 40 insertions(+), 45 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 300fdc01c2..4e34231fec 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -4356,58 +4356,53 @@ class AutoTestCopter(AutoTest):
         self.context_push()
 
         ex = None
-        # we are dealing with probabalistic scenarios involving threads, have two bites at the cherry
-        for loop in ["first", "second"]:
-            try:
-                self.set_rc_default()
-                self.set_parameter("AHRS_EKF_TYPE", 10)
-                self.set_parameter("INS_LOG_BAT_MASK", 3)
-                self.set_parameter("INS_LOG_BAT_OPT", 0)
-                # set the gyro filter high so we can observe behaviour
-                self.set_parameter("INS_GYRO_FILTER", 100)
-                self.set_parameter("LOG_BITMASK", 958)
-                self.set_parameter("LOG_DISARMED", 0)
-                self.set_parameter("SIM_VIB_MOT_MAX", 350)
-                self.set_parameter("SIM_GYR1_RND", 20)
-                self.reboot_sitl()
+        try:
+            self.set_parameters({
+                "AHRS_EKF_TYPE": 10,
+                "INS_LOG_BAT_MASK": 3,
+                "INS_LOG_BAT_OPT": 0,
+                "INS_GYRO_FILTER": 100, # set the gyro filter high so we can observe behaviour
+                "LOG_BITMASK": 958,
+                "LOG_DISARMED": 0,
+                "SIM_VIB_MOT_MAX": 350,
+                "SIM_GYR1_RND": 20,
+            })
+            self.reboot_sitl()
 
-                self.takeoff(10, mode="ALT_HOLD")
+            self.takeoff(10, mode="ALT_HOLD")
 
-                # find a motor peak
-                freq, vfr_hud, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 200, 300)
+            # find a motor peak
+            freq, vfr_hud, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 200, 300)
 
-                # now add a dynamic notch and check that the peak is squashed
-                self.set_parameter("INS_LOG_BAT_OPT", 2)
-                self.set_parameter("INS_HNTCH_ENABLE", 1)
-                self.set_parameter("INS_HNTCH_FREQ", freq)
-                self.set_parameter("INS_HNTCH_REF", vfr_hud.throttle/100.)
-                # first and third harmonic
-                self.set_parameter("INS_HNTCH_HMNCS", 5)
-                self.set_parameter("INS_HNTCH_ATT", 50)
-                self.set_parameter("INS_HNTCH_BW", freq/2)
-                self.reboot_sitl()
+            # now add a dynamic notch and check that the peak is squashed
+            self.set_parameters({
+                "INS_LOG_BAT_OPT": 2,
+                "INS_HNTCH_ENABLE": 1,
+                "INS_HNTCH_FREQ": freq,
+                "INS_HNTCH_REF": vfr_hud.throttle/100.,
+                "INS_HNTCH_HMNCS": 5, # first and third harmonic
+                "INS_HNTCH_ATT": 50,
+                "INS_HNTCH_BW": freq/2,
+            })
+            self.reboot_sitl()
 
-                freq, vfr_hud, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
+            freq, vfr_hud, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
 
-                # now add double dynamic notches and check that the peak is squashed
-                self.set_parameter("INS_HNTCH_OPTS", 1)
-                self.reboot_sitl()
+            # now add double dynamic notches and check that the peak is squashed
+            self.set_parameter("INS_HNTCH_OPTS", 1)
+            self.reboot_sitl()
 
-                freq, vfr_hud, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
+            freq, vfr_hud, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
 
-                # double-notch should do better, but check for within 5%
-                if peakdb2 * 1.05 > peakdb1:
-                    raise NotAchievedException(
-                        "Double-notch peak was higher than single-notch peak %fdB > %fdB" %
-                        (peakdb2, peakdb1))
+            # double-notch should do better, but check for within 5%
+            if peakdb2 * 1.05 > peakdb1:
+                raise NotAchievedException(
+                    "Double-notch peak was higher than single-notch peak %fdB > %fdB" %
+                    (peakdb2, peakdb1))
 
-            except Exception as e:
-                self.print_exception_caught(e)
-                self.progress("Exception caught in %s loop" % (loop,))
-                if loop != "second":
-                    continue
-                ex = e
-            break
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
 
         self.context_pop()
 
@@ -6948,7 +6943,7 @@ class AutoTestCopter(AutoTest):
             Test("DynamicNotches",
                  "Fly Dynamic Notches",
                  self.fly_dynamic_notches,
-                 attempts=4),
+                 attempts=8),
 
             Test("PositionWhenGPSIsZero",
                  "Ensure position doesn't zero when GPS lost",