From 56f8e3d4147aa41a40bfd5de160e5d5b5b0b6750 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 19 Jan 2016 14:30:09 +1100
Subject: [PATCH] scripts: added runfliptest.sh example script

---
 Tools/scripts/runfliptest.sh | 55 ++++++++++++++++++++++++++++++++++++
 1 file changed, 55 insertions(+)
 create mode 100755 Tools/scripts/runfliptest.sh

diff --git a/Tools/scripts/runfliptest.sh b/Tools/scripts/runfliptest.sh
new file mode 100755
index 0000000000..e3c330f3b3
--- /dev/null
+++ b/Tools/scripts/runfliptest.sh
@@ -0,0 +1,55 @@
+#!/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.sh -j4 -D -L KSFO -S5'
+mavproxy = pexpect.spawn(cmd, logfile=sys.stdout, timeout=30)
+mavproxy.expect("Ready to FLY")
+
+mav = mavutil.mavlink_connection('127.0.0.1:14550')
+
+wait_time(mav, 12)
+mavproxy.send('arm throttle\n')
+mavproxy.expect('ARMED')
+mavproxy.send('alt_hold\n')
+wait_mode(mav, ['ALT_HOLD'])
+mavproxy.send('rc 3 1800\n')
+mavproxy.send('param set CH7_OPT 2\n')
+mavproxy.send('repeat add 2 rc 7 2000\n')
+wait_time(mav, 1)
+mavproxy.send('repeat add 2 rc 7 1000\n')
+mavproxy.logfile = None
+mavproxy.interact()