Tools: autotest: use change_mode in apmrover2 for changing modes

Tools/autotest/apmrover2.py

@@ -400,8 +400,7 @@ class AutoTestRover(AutoTest):
         self.set_parameter('CRUISE_SPEED', speed*1.2)
         # at time of writing, the vehicle is only capable of 10m/s/s accel
         self.set_parameter('ATC_ACCEL_MAX', 15)
-        self.mavproxy.send("mode STEERING\n")
-        self.wait_mode('STEERING')
+        self.change_mode("STEERING")
         self.set_rc(3, 2000)
         self.wait_groundspeed(15, 100)
         initial = self.mav.location()
@@ -530,17 +529,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.arm_vehicle()
             # first make sure we can breach the fence:
             self.set_rc(10, 1000)
-            self.mavproxy.send("mode acro\n")
-            self.wait_mode("ACRO")
+            self.change_mode("ACRO")
             self.set_rc(3, 1550)
             self.wait_distance_home_gt(25)
-            self.mavproxy.send("mode RTL\n")
-            self.wait_mode("RTL")
+            self.change_mode("RTL")
             self.mavproxy.expect("APM: Reached destination")
             # now enable avoidance and make sure we can't:
             self.set_rc(10, 2000)
-            self.mavproxy.send("mode acro\n")
-            self.wait_mode("ACRO")
+            self.change_mode("ACRO")
             self.wait_groundspeed(0, 0.7, timeout=60)
             # watch for speed zero
             self.wait_groundspeed(0, 0.2, timeout=120)
@@ -752,8 +748,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         try:
             self.load_mission("rover-camera-mission.txt")
             self.wait_ready_to_arm()
-            self.mavproxy.send('mode auto\n')
-            self.wait_mode('AUTO')
+            self.change_mode("AUTO")
             self.wait_ready_to_arm()
             self.arm_vehicle()
             prev_cf = None

Tools/autotest/common.py

@@ -893,6 +893,11 @@ class AutoTest(ABC):
             bearing += 360.00
         return bearing
 
+    def change_mode(self, mode):
+        '''change vehicle flightmode'''
+        self.mavproxy.send('mode %s\n' % mode)
+        self.wait_mode(mode)
+
     def do_get_autopilot_capabilities(self):
         tstart = self.get_sim_time()
         while self.get_sim_time() - tstart < 10: