From 4ae8595da37501f59577b638c456c56f487f7dd7 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Dec 2018 08:35:55 +1100 Subject: [PATCH] Tools: autotest: make fly_avc_test a little more self-contained --- Tools/autotest/arducopter.py | 21 +++++++++++++-------- 1 file changed, 13 insertions(+), 8 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 8b8544ae90..e19a520aa4 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -1125,6 +1125,15 @@ class AutoTestCopter(AutoTest): # fly_avc_test - fly AVC mission def fly_avc_test(self): + # Arm + self.mavproxy.send('switch 6\n') # stabilize mode + self.wait_mode('STABILIZE') + self.wait_ready_to_arm() + + self.arm_vehicle() + self.progress("Raising rotor speed") + self.set_rc(8, 2000) + # upload mission from file self.progress("# Load copter_AVC2013_mission") # load the waypoint count @@ -1154,6 +1163,9 @@ class AutoTestCopter(AutoTest): self.mav.motors_disarmed_wait() self.progress("MOTORS DISARMED OK") + self.progress("Lowering rotor speed") + self.set_rc(8, 1000) + self.progress("AVC mission completed: passed!") def fly_motor_fail(self, fail_servo=0, fail_mul=0.0, holdtime=30): @@ -2661,18 +2673,11 @@ class AutoTestCopter(AutoTest): self.mavproxy.send('switch 6\n') # stabilize mode self.wait_mode('STABILIZE') self.wait_ready_to_arm() - self.run_test("Arm features", self.test_arm_feature) - # Arm - self.run_test("Arm motors", self.arm_vehicle) - self.progress("Raising rotor speed") - self.set_rc(8, 2000) + self.run_test("Arm features", self.test_arm_feature) self.run_test("Fly AVC mission", self.fly_avc_test) - self.progress("Lowering rotor speed") - self.set_rc(8, 1000) - # mission ends with disarm so should be ok to download logs now self.run_test("log download", lambda: self.log_download(