autotest: tweak plane autotest debugging

Tools/autotest/arduplane.py

@@ -153,6 +153,9 @@ def wait_level_flight(mavproxy, mav, accuracy=5, timeout=30):
     '''wait for level flight'''
     tstart = time.time()
     print("Waiting for level flight")
+    mavproxy.send('rc 1 1500\n')
+    mavproxy.send('rc 2 1500\n')
+    mavproxy.send('rc 4 1500\n')
     while time.time() < tstart + timeout:
         m = mav.recv_match(type='ATTITUDE', blocking=True)
         roll = math.degrees(m.roll)
@@ -196,10 +199,13 @@ def axial_left_roll(mavproxy, mav, count=1):
         print("Starting roll")
         mavproxy.send('rc 1 1000\n')
         if not wait_roll(mav, -150, accuracy=90):
+            mavproxy.send('rc 1 1500\n')
             return False
         if not wait_roll(mav, 150, accuracy=90):
+            mavproxy.send('rc 1 1500\n')
             return False
         if not wait_roll(mav, 0, accuracy=90):
+            mavproxy.send('rc 1 1500\n')
             return False
         count -= 1
 

Tools/autotest/common.py

@@ -84,29 +84,31 @@ def wait_groundspeed(mav, gs_min, gs_max, timeout=30):
 def wait_roll(mav, roll, accuracy, timeout=30):
     '''wait for a given roll in degrees'''
     tstart = time.time()
-    print("Waiting for roll of %u" % roll)
+    print("Waiting for roll of %d at %s" % (roll, time.ctime()))
     while time.time() < tstart + timeout:
         m = mav.recv_match(type='ATTITUDE', blocking=True)
+        p = math.degrees(m.pitch)
         r = math.degrees(m.roll)
-        print("Roll %u" % r)
+        print("Roll %d Pitch %d" % (r, p))
         if math.fabs(r - roll) <= accuracy:
-            print("Attained roll %u" % roll)
+            print("Attained roll %d" % roll)
             return True
-    print("Failed to attain roll %u" % roll)
+    print("Failed to attain roll %d" % roll)
     return False
 
 def wait_pitch(mav, pitch, accuracy, timeout=30):
     '''wait for a given pitch in degrees'''
     tstart = time.time()
-    print("Waiting for pitch of %u" % pitch)
+    print("Waiting for pitch of %u at %s" % (pitch, time.ctime()))
     while time.time() < tstart + timeout:
         m = mav.recv_match(type='ATTITUDE', blocking=True)
-        r = math.degrees(m.pitch)
-        print("Pitch %u" % r)
+        p = math.degrees(m.pitch)
+        r = math.degrees(m.roll)
+        print("Pitch %d Roll %d" % (p, r))
         if math.fabs(r - pitch) <= accuracy:
-            print("Attained pitch %u" % pitch)
+            print("Attained pitch %d" % pitch)
             return True
-    print("Failed to attain pitch %u" % pitch)
+    print("Failed to attain pitch %d" % pitch)
     return False
 
 
@@ -228,4 +230,4 @@ def sim_location(mav):
     '''return current simulator location'''
     from pymavlink import mavutil
     m = mav.recv_match(type='SIMSTATE', blocking=True)
-    return mavutil.location(m.lat*1.0e-7, m.lng*1.0e-7, 0, math.degrees(m.yaw))
+    return mavutil.location(m.lat*1.0e-7, m.lng*1.0e-7, 0, math.degrees(m.yaw))