From 6e44ea13d4bb9013270394731d4ca450b0e629df Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 7 Sep 2018 21:15:02 +1000 Subject: [PATCH] Tools: autotest: do not arm vehicle before flaps test --- Tools/autotest/apmrover2.py | 11 +++++------ Tools/autotest/arduplane.py | 6 +++++- Tools/autotest/common.py | 2 +- 3 files changed, 11 insertions(+), 8 deletions(-) diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py index 8867011e14..e46ee01a8f 100644 --- a/Tools/autotest/apmrover2.py +++ b/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"))) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index a00ff56b5c..ec86a38814 100644 --- a/Tools/autotest/arduplane.py +++ b/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) diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py index 3cf49888a6..26c2f035d3 100644 --- a/Tools/autotest/common.py +++ b/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))