Autotest: Simplify soaring.py.

Tools/autotest/soaring.py

@@ -62,108 +62,99 @@ class AutoTestSoaring(AutoTest):
     def set_autodisarm_delay(self, delay):
         self.set_parameter("LAND_DISARMDELAY", delay)
 
-    def fly_mission(self, filename, fence, height_accuracy=-1):
+    def fly_mission(self):
 
-        self.context_push()
-        ex = None
-        try:
-            self.set_parameter("SOAR_ENABLE", 1)
-            self.repeatedly_apply_parameter_file('default_params/plane-soaring.parm')
-            self.load_mission("ArduPlane-Missions/CMAC-soar.txt")
+        self.set_parameter("SOAR_ENABLE", 1)
+        self.repeatedly_apply_parameter_file('default_params/plane-soaring.parm')
+        self.load_mission(MISSION)
 
-            self.mavproxy.send("wp set 1\n")
-            self.change_mode('AUTO')
-            self.wait_ready_to_arm()
-            self.arm_vehicle()
-            
-            # Enable thermalling RC
-            rc_chan = self.get_parameter('SOAR_ENABLE_CH')
-            self.send_set_rc(rc_chan, 1900)
 
-            # Wait to detect thermal
-            self.progress("Waiting for thermal")
-            self.wait_mode('LOITER',timeout=600)
+        self.mavproxy.send("wp set 1\n")
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        
+        # Enable thermalling RC
+        rc_chan = self.get_parameter('SOAR_ENABLE_CH')
+        self.send_set_rc(rc_chan, 1900)
 
-            # Wait to climb to SOAR_ALT_MAX
-            self.progress("Waiting for climb to max altitude")
-            alt_max = self.get_parameter('SOAR_ALT_MAX')
-            self.wait_altitude(alt_max-10, alt_max, timeout=600, relative=True)
+        # Wait to detect thermal
+        self.progress("Waiting for thermal")
+        self.wait_mode('LOITER',timeout=600)
 
-            # Wait for AUTO
-            self.progress("Waiting for AUTO mode")
-            self.wait_mode('AUTO')
+        # Wait to climb to SOAR_ALT_MAX
+        self.progress("Waiting for climb to max altitude")
+        alt_max = self.get_parameter('SOAR_ALT_MAX')
+        self.wait_altitude(alt_max-10, alt_max, timeout=600, relative=True)
 
-            # Disable thermals
-            self.set_parameter("SIM_THML_SCENARI", 0)
+        # Wait for AUTO
+        self.progress("Waiting for AUTO mode")
+        self.wait_mode('AUTO')
 
+        # Disable thermals
+        self.set_parameter("SIM_THML_SCENARI", 0)
 
-           # Wait to descent to SOAR_ALT_MIN
-            self.progress("Waiting for glide to min altitude")
-            alt_min = self.get_parameter('SOAR_ALT_MIN')
-            self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
 
-            self.progress("Waiting for throttle up")
-            self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.gt)
+       # Wait to descent to SOAR_ALT_MIN
+        self.progress("Waiting for glide to min altitude")
+        alt_min = self.get_parameter('SOAR_ALT_MIN')
+        self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
 
-            self.progress("Waiting for climb to cutoff altitude")
-            alt_ctf = self.get_parameter('SOAR_ALT_CUTOFF')
-            self.wait_altitude(alt_ctf-10, alt_ctf, timeout=600, relative=True)
+        self.progress("Waiting for throttle up")
+        self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.gt)
 
-            # Now set FBWB mode
-            self.change_mode('FBWB')
-            self.wait_seconds(5)
+        self.progress("Waiting for climb to cutoff altitude")
+        alt_ctf = self.get_parameter('SOAR_ALT_CUTOFF')
+        self.wait_altitude(alt_ctf-10, alt_ctf, timeout=600, relative=True)
 
-            # Now disable soaring (should hold altitude)
-            self.set_parameter("SOAR_ENABLE", 0)
-            self.wait_seconds(10)
+        # Now set FBWB mode
+        self.change_mode('FBWB')
+        self.wait_seconds(5)
 
-            #And reenable. This should force throttle-down
-            self.set_parameter("SOAR_ENABLE", 1)
-            self.wait_seconds(10)
+        # Now disable soaring (should hold altitude)
+        self.set_parameter("SOAR_ENABLE", 0)
+        self.wait_seconds(10)
 
-            # Now wait for descent and check RTL
-            self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
+        #And reenable. This should force throttle-down
+        self.set_parameter("SOAR_ENABLE", 1)
+        self.wait_seconds(10)
 
-            self.progress("Waiting for RTL")
-            self.wait_mode('RTL')
+        # Now wait for descent and check RTL
+        self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
 
-            alt_rtl = self.get_parameter('ALT_HOLD_RTL')/100
+        self.progress("Waiting for RTL")
+        self.wait_mode('RTL')
 
-            # Wait for climb to  RTL.
-            self.progress("Waiting for climb to RTL altitude")
-            self.wait_altitude(alt_rtl-5, alt_rtl+5, timeout=60, relative=True)
+        alt_rtl = self.get_parameter('ALT_HOLD_RTL')/100
 
-            # Back to auto
-            self.change_mode('AUTO')
+        # Wait for climb to  RTL.
+        self.progress("Waiting for climb to RTL altitude")
+        self.wait_altitude(alt_rtl-5, alt_rtl+5, timeout=60, relative=True)
 
-            # Reenable thermals
-            self.set_parameter("SIM_THML_SCENARI", 1)
+        # Back to auto
+        self.change_mode('AUTO')
 
-            # Disable soaring using RC channel.
-            self.send_set_rc(rc_chan, 1100)
+        # Reenable thermals
+        self.set_parameter("SIM_THML_SCENARI", 1)
 
-            # Wait to get back to waypoint before thermal.
-            self.progress("Waiting to get back to position")
-            self.wait_current_waypoint(3,timeout=1200)
+        # Disable soaring using RC channel.
+        self.send_set_rc(rc_chan, 1100)
 
-            # Enable soaring with mode changes suppressed)
-            self.send_set_rc(rc_chan, 1500)
+        # Wait to get back to waypoint before thermal.
+        self.progress("Waiting to get back to position")
+        self.wait_current_waypoint(3,timeout=1200)
 
-            # Make sure this causes throttle down.
-            self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.lt)
+        # Enable soaring with mode changes suppressed)
+        self.send_set_rc(rc_chan, 1500)
 
-            self.progress("Waiting for next WP with no loiter")
-            self.wait_waypoint(4,4,timeout=1200,max_dist=120)
+        # Make sure this causes throttle down.
+        self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.lt)
 
-            # Disarm
-            self.disarm_vehicle()
+        self.progress("Waiting for next WP with no loiter")
+        self.wait_waypoint(4,4,timeout=1200,max_dist=120)
 
-        except Exception as e:
-            self.progress("Exception caught")
-            ex = e
-        self.context_pop()
-        if ex is not None:
-            raise ex
+        # Disarm
+        self.disarm_vehicle()
 
         self.progress("Mission OK")
 
@@ -184,13 +175,10 @@ class AutoTestSoaring(AutoTest):
 
     def tests(self):
         '''return list of all tests'''
-        m = os.path.join(testdir, "ArduPlane-Missions/CMAC-soar.txt")
-        f = os.path.join(testdir,
-                         "ArduPlane-Missions/Dalby-OBC2016-fence.txt")
 
         ret = super(AutoTestSoaring, self).tests()
         ret.extend([
             ("Mission", "CMAC Mission",
-             lambda: self.fly_mission(m, f))
+             self.fly_mission)
         ])
         return ret