Tools: allow Rover to use inheritted config files

Tools/autotest/apmrover2.py

@@ -8,6 +8,7 @@ from pymavlink import mavutil
 
 from common import *
 from pysim import util
+from pysim import vehicleinfo
 
 # get location of scripts
 testdir = os.path.dirname(os.path.realpath(__file__))
@@ -97,8 +98,9 @@ def drive_mission(mavproxy, mav, filename):
     print("Mission OK")
     return True
 
+vinfo = vehicleinfo.VehicleInfo()
 
-def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
+def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None):
     """Drive APMrover2 in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -106,6 +108,9 @@ def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fa
     """
     global homeloc
 
+    if frame is None:
+        frame = 'rover'
+
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
     if viewerip:
         options += " --out=%s:14550" % viewerip
@@ -113,15 +118,20 @@ def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fa
         options += ' --map'
 
     home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
-    sitl = util.start_SITL(binary, wipe=True, model='rover', home=home, speedup=10)
+    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10)
     mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
 
     print("WAITING FOR PARAMETERS")
     mavproxy.expect('Received [0-9]+ parameters')
 
     # setup test parameters
-    mavproxy.send("param load %s/default_params/rover.parm\n" % testdir)
-    mavproxy.expect('Loaded [0-9]+ parameters')
+    if params is None:
+        params = vinfo.options["APMrover2"]["frames"][frame]["default_params_filename"]
+    if not isinstance(params, list):
+        params = [params]
+    for x in params:
+        mavproxy.send("param load %s\n" % os.path.join(testdir, x))
+        mavproxy.expect('Loaded [0-9]+ parameters')
     mavproxy.send("param set LOG_REPLAY 1\n")
     mavproxy.send("param set LOG_DISARMED 1\n")
     time.sleep(3)

Tools/autotest/autotest.py

@@ -314,7 +314,7 @@ def run_step(step):
         return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
 
     if step == 'drive.APMrover2':
-        return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
+        return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
     
     if step == 'dive.ArduSub':
         return ardusub.dive_ArduSub(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)