Tools: autotest: do not arm vehicle before flaps test

Tools/autotest/apmrover2.py

@@ -709,11 +709,8 @@ class AutoTestRover(AutoTest):
             self.mavproxy.send('switch 6\n')  # Manual mode
             self.wait_mode('MANUAL')
 
-            self.run_test("Test Sprayer", self.test_sprayer)
-
             self.wait_ready_to_arm()
             self.run_test("Arm features", self.test_arm_feature)
-            self.arm_vehicle()
 
             self.run_test("Set modes via mavproxy switch",
                           self.test_setting_modes_via_mavproxy_switch)
@@ -727,6 +724,8 @@ class AutoTestRover(AutoTest):
             self.run_test("Set modes via auxswitches",
                           self.test_setting_modes_via_auxswitches)
 
+            self.arm_vehicle()
+
             self.run_test("Drive an RTL Mission", self.drive_rtl_mission)
 
             self.run_test("Learn/Drive Square with Ch7 option",
@@ -750,15 +749,15 @@ class AutoTestRover(AutoTest):
             self.mavproxy.send('switch 6\n')  # Manual mode
             self.wait_mode('MANUAL')
             self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
-                          self.mavproxy_do_set_mode_via_command_long())
+                          self.mavproxy_do_set_mode_via_command_long)
 
             self.run_test("Test ServoRelayEvents",
                           self.test_servorelayevents)
 
-            self.disarm_vehicle()
-
             self.run_test("Test RC overrides", self.test_rc_overrides)
 
+            self.run_test("Test Sprayer", self.test_sprayer)
+
             self.run_test("Download logs", lambda:
                           self.log_download(
                               self.buildlogs_path("APMrover2-log.bin")))

Tools/autotest/arduplane.py

@@ -528,6 +528,8 @@ class AutoTestPlane(AutoTest):
             ex = e
         self.context_pop()
         if ex:
+            if self.armed():
+                self.disarm_vehicle()
             raise ex
 
     def test_rc_relay(self):
@@ -601,10 +603,12 @@ class AutoTestPlane(AutoTest):
             self.progress("Home location: %s" % self.homeloc)
             self.wait_ready_to_arm()
             self.run_test("Arm features", self.test_arm_feature)
-            self.arm_vehicle()
 
             self.run_test("Flaps", self.fly_flaps)
 
+            self.mavproxy.send('switch 6\n')
+            self.wait_mode('MANUAL')
+
             self.run_test("Takeoff", self.takeoff)
 
             self.run_test("Fly left circuit", self.fly_left_circuit)

Tools/autotest/common.py

@@ -343,7 +343,6 @@ class AutoTest(ABC):
 
     def log_download(self, filename, timeout=360):
         """Download latest log."""
-        self.disarm_vehicle()
         self.mav.wait_heartbeat()
         self.mavproxy.send("log list\n")
         self.mavproxy.expect("numLogs")
@@ -409,6 +408,7 @@ class AutoTest(ABC):
             self.mavproxy.send('rc %u %u\n' % (chan, pwm))
             m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
             chan_pwm = getattr(m, "chan" + str(chan) + "_raw")
+            self.progress("set_rc: want=%fu got=%u" % (pwm, chan_pwm))
             if chan_pwm == pwm:
                 return True
         self.progress("Failed to send RC commands to channel %s" % str(chan))