Tools: pep8 corrections + correct variable shadowing

Tools/autotest/apmrover2.py

@@ -481,8 +481,8 @@ class AutoTestRover(AutoTest):
         fnoo = [(1, 'MANUAL'),
                 (2, 'MANUAL'),
                 (3, 'RTL'),
-                #                (4, 'AUTO'), // no mission, can't set auto
-                (5, 'RTL'), # non-existant mode, should stay in RTL
+                # (4, 'AUTO'),  # no mission, can't set auto
+                (5, 'RTL'),  # non-existant mode, should stay in RTL
                 (6, 'MANUAL')]
         for (num, expected) in fnoo:
             self.mavproxy.send('switch %u\n' % num)
@@ -505,7 +505,7 @@ class AutoTestRover(AutoTest):
 
     def test_setting_modes_via_modeswitch(self):
         # test setting of modes through mode switch
-        self.context_push();
+        self.context_push()
         ex = None
         try:
             self.set_parameter("MODE_CH", 8)
@@ -526,13 +526,13 @@ class AutoTestRover(AutoTest):
             self.progress("Exception caught")
             ex = e
 
-        self.context_pop();
+        self.context_pop()
 
         if ex is not None:
             raise ex
 
     def test_setting_modes_via_auxswitches(self):
-        self.context_push();
+        self.context_push()
         ex = None
         try:
             self.set_parameter("MODE5", 1)
@@ -564,7 +564,7 @@ class AutoTestRover(AutoTest):
             self.progress("Exception caught")
             ex = e
 
-        self.context_pop();
+        self.context_pop()
 
         if ex is not None:
             raise ex
@@ -670,7 +670,7 @@ class AutoTestRover(AutoTest):
                           self.drive_mission_rover1)
 
             # disabled due to frequent failures in travis. This test needs re-writing
-            #self.run_test("Drive Brake", self.drive_brake)
+            # self.run_test("Drive Brake", self.drive_brake)
 
             self.run_test("Disarm Vehicle", self.disarm_vehicle)
 
@@ -699,7 +699,7 @@ class AutoTestRover(AutoTest):
     #            self.progress("Failed RTL")
     #            failed = True
 
-        except pexpect.TIMEOUT as e:
+        except pexpect.TIMEOUT:
             self.progress("Failed with timeout")
             self.fail_list.append(("*timeout*", None))
 

Tools/autotest/arducopter.py

@@ -5,7 +5,6 @@ from __future__ import print_function
 import math
 import os
 import shutil
-import sys
 import time
 
 import pexpect
@@ -13,14 +12,15 @@ from pymavlink import mavutil
 
 from pysim import util
 
-from common import AutoTest, AutoTestTimeoutException
-from common import NotAchievedException, PreconditionFailedException
+from common import AutoTest
+from common import NotAchievedException, AutoTestTimeoutException, PreconditionFailedException
 
 # get location of scripts
 testdir = os.path.dirname(os.path.realpath(__file__))
 HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
 AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
 
+
 # Flight mode switch positions are set-up in arducopter.param to be
 #   switch 1 = Circle
 #   switch 2 = Land
@@ -158,7 +158,7 @@ class AutoTestCopter(AutoTest):
         self.progress("TAKEOFF COMPLETE")
 
     def wait_for_alt(self, alt_min=30):
-        '''wait for altitude to be reached'''
+        """Wait for altitude to be reached."""
         m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
         alt = m.relative_alt / 1000.0 # mm -> m
         if alt < alt_min:
@@ -696,7 +696,6 @@ class AutoTestCopter(AutoTest):
 
         # disable gps glitch
         if glitch_current != -1:
-            glitch_current = -1
             self.set_parameter("SIM_GPS_GLITCH_X", 0)
             self.set_parameter("SIM_GPS_GLITCH_Y", 0)
         if self.use_map:
@@ -1043,9 +1042,9 @@ class AutoTestCopter(AutoTest):
 
         # we only expect an octocopter to survive ATM:
         servo_counts = {
-#            2: 6, # hexa
-            3: 8, # octa
-#            5: 6, # Y6
+            # 2: 6, # hexa
+            3: 8,  # octa
+            # 5: 6, # Y6
         }
         frame_class = int(self.get_parameter("FRAME_CLASS"))
         if frame_class not in servo_counts:
@@ -1111,7 +1110,7 @@ class AutoTestCopter(AutoTest):
                     else:
                         state = "OK"
 
-                    if failed and i==fail_servo:
+                    if failed and i == fail_servo:
                         state += " (failed)"
 
                     self.progress("servo %u [pwm=%u] [%s]" % (i+1, pwm, state))
@@ -1164,11 +1163,10 @@ class AutoTestCopter(AutoTest):
         self.set_rc(3, 1500)
 
     def fly_vision_position(self):
-        '''disable GPS navigation, enable Vicon input'''
+        """Disable GPS navigation, enable Vicon input."""
         # scribble down a location we can set origin to:
 
         self.progress("Waiting for location")
-        start = self.mav.location()
         self.mavproxy.send('switch 6\n')  # stabilize mode
         self.mav.wait_heartbeat()
         self.wait_mode('STABILIZE')
@@ -1178,7 +1176,7 @@ class AutoTestCopter(AutoTest):
         old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
         print("old_pos=%s" % str(old_pos))
 
-        self.context_push();
+        self.context_push()
 
         ex = None
         try:
@@ -1198,7 +1196,7 @@ class AutoTestCopter(AutoTest):
             while True:
                 gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT',
                                           blocking=True)
-#                self.progress("gpi=%s" % str(gpi))
+                # self.progress("gpi=%s" % str(gpi))
                 if gpi.lat != 0:
                     break
 
@@ -1211,10 +1209,10 @@ class AutoTestCopter(AutoTest):
             while True:
                 vicon_pos = self.mav.recv_match(type='VICON_POSITION_ESTIMATE',
                                                 blocking=True)
-#                print("vpe=%s" % str(vicon_pos))
-                gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT',
-                                          blocking=True)
-#                self.progress("gpi=%s" % str(gpi))
+                # print("vpe=%s" % str(vicon_pos))
+                self.mav.recv_match(type='GLOBAL_POSITION_INT',
+                                    blocking=True)
+                # self.progress("gpi=%s" % str(gpi))
                 if vicon_pos.x > 40:
                     break
 
@@ -1230,12 +1228,12 @@ class AutoTestCopter(AutoTest):
             while True:
                 if self.get_sim_time() - tstart > 200:
                     raise NotAchievedException()
-                gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT',
-                                          blocking=True)
-#                print("gpi=%s" % str(gpi))
-                ss = self.mav.recv_match(type='SIMSTATE',
-                                         blocking=True)
-#                print("ss=%s" % str(ss))
+                self.mav.recv_match(type='GLOBAL_POSITION_INT',
+                                    blocking=True)
+                # print("gpi=%s" % str(gpi))
+                self.mav.recv_match(type='SIMSTATE',
+                                    blocking=True)
+                # print("ss=%s" % str(ss))
                 # wait for RTL disarm:
                 if not self.armed():
                     break
@@ -1244,7 +1242,7 @@ class AutoTestCopter(AutoTest):
             self.progress("Exception caught")
             ex = e
 
-        self.context_pop();
+        self.context_pop()
         self.set_rc(3, 1000)
         self.reboot_sitl()
 
@@ -1252,9 +1250,9 @@ class AutoTestCopter(AutoTest):
             raise ex
 
     def fly_nav_delay(self):
-        """fly a simple mission that has a delay in it"""
+        """Fly a simple mission that has a delay in it."""
 
-        num_wp = self.load_mission("copter_nav_delay.txt")
+        self.load_mission("copter_nav_delay.txt")
 
         self.mavproxy.send('mode loiter\n')
         self.mav.wait_heartbeat()
@@ -1262,7 +1260,7 @@ class AutoTestCopter(AutoTest):
         self.progress("Waiting reading for arm")
         self.wait_ready_to_arm()
 
-        self.context_push();
+        self.context_push()
 
         ex = None
         try:
@@ -1302,22 +1300,21 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
-    def get_system_clock_utc(self, time):
+    def get_system_clock_utc(self, time_seconds):
         # this is a copy of ArduPilot's AP_RTC function!
         # separate time into ms, sec, min, hour and days but all expressed
         # in milliseconds
-        time_ms = time * 1000
-        ms = time_ms % 1000;
-        sec_ms = (time_ms % (60 * 1000)) - ms;
-        min_ms = (time_ms % (60 * 60 * 1000)) - sec_ms - ms;
-        hour_ms = (time_ms % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms;
+        time_ms = time_seconds * 1000
+        ms = time_ms % 1000
+        sec_ms = (time_ms % (60 * 1000)) - ms
+        min_ms = (time_ms % (60 * 60 * 1000)) - sec_ms - ms
+        hour_ms = (time_ms % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms
 
         # convert times as milliseconds into appropriate units
-        sec = sec_ms / 1000;
-        min = min_ms / (60 * 1000);
-        hour = hour_ms / (60 * 60 * 1000);
-        return (hour, min, sec, 0)
-
+        secs = sec_ms / 1000
+        mins = min_ms / (60 * 1000)
+        hours = hour_ms / (60 * 60 * 1000)
+        return (hours, mins, secs, 0)
 
     def calc_delay(self, seconds):
         # delay-for-seconds has to be long enough that we're at the
@@ -1442,7 +1439,7 @@ class AutoTestCopter(AutoTest):
     def fly_nav_delay_abstime(self):
         """fly a simple mission that has a delay in it"""
 
-        num_wp = self.load_mission("copter_nav_delay.txt")
+        self.load_mission("copter_nav_delay.txt")
 
         self.progress("Starting mission")
 
@@ -1458,7 +1455,7 @@ class AutoTestCopter(AutoTest):
         reset_at_m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
         reset_at = reset_at_m.time_unix_usec/1000000
 
-        self.context_push();
+        self.context_push()
 
         ex = None
         try:
@@ -1558,7 +1555,7 @@ class AutoTestCopter(AutoTest):
             raise ex
 
     def test_setting_modes_via_modeswitch(self):
-        self.context_push();
+        self.context_push()
         ex = None
         try:
             fltmode_ch = 5
@@ -1570,7 +1567,7 @@ class AutoTestCopter(AutoTest):
                          ("FLTMODE4", 7, "CIRCLE", 1555),
                          ("FLTMODE5", 1, "ACRO", 1685),
                          ("FLTMODE6", 17, "BRAKE", 1815),
-            ]
+                         ]
             for mode in testmodes:
                 (parm, parm_value, name, pwm) = mode
                 self.set_parameter(parm, parm_value)
@@ -1605,7 +1602,7 @@ class AutoTestCopter(AutoTest):
             raise ex
 
     def test_setting_modes_via_auxswitch(self):
-        self.context_push();
+        self.context_push()
         ex = None
         try:
             fltmode_ch = int(self.get_parameter("FLTMODE_CH"))
@@ -1625,15 +1622,15 @@ class AutoTestCopter(AutoTest):
             self.progress("Exception caught")
             ex = e
 
-        self.context_pop();
+        self.context_pop()
 
         if ex is not None:
             raise ex
 
     def fly_guided_change_submode(self):
-        '''Ensure we can move around in guided after a takeoff command'''
+        """"Ensure we can move around in guided after a takeoff command."""
 
-        self.context_push();
+        self.context_push()
 
         ex = None
         try:
@@ -1651,11 +1648,11 @@ class AutoTestCopter(AutoTest):
             startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
                                            blocking=True)
 
-            '''yaw through absolute angles using MAV_CMD_CONDITION_YAW'''
+            """yaw through absolute angles using MAV_CMD_CONDITION_YAW"""
             self.guided_achieve_heading(45)
             self.guided_achieve_heading(135)
 
-            '''move the vehicle using set_position_target_global_int'''
+            """move the vehicle using set_position_target_global_int"""
             tstart = self.get_sim_time()
             while True:
                 if self.get_sim_time() - tstart > 200:
@@ -1695,14 +1692,13 @@ class AutoTestCopter(AutoTest):
             self.progress("Exception caught")
             ex = e
 
-        self.context_pop();
+        self.context_pop()
         self.set_rc(3, 1000)
         self.reboot_sitl()
 
         if ex is not None:
             raise ex
 
-
     def autotest(self):
         """Autotest ArduCopter in SITL."""
         self.check_test_syntax(test_file=os.path.realpath(__file__))
@@ -1910,7 +1906,7 @@ class AutoTestCopter(AutoTest):
             # Gripper test
             self.run_test("Test gripper", self.test_gripper)
 
-            '''vision position''' # expects vehicle to be disarmed
+            '''vision position'''  # expects vehicle to be disarmed
             self.run_test("Fly Vision Position", self.fly_vision_position)
 
             # Download logs
@@ -1918,7 +1914,7 @@ class AutoTestCopter(AutoTest):
                           lambda: self.log_download(
                               self.buildlogs_path("ArduCopter-log.bin")))
 
-        except pexpect.TIMEOUT as e:
+        except pexpect.TIMEOUT:
             self.progress("Failed with timeout")
             self.fail_list.append("Failed with timeout")
         self.close()
@@ -1963,7 +1959,7 @@ class AutoTestCopter(AutoTest):
                           lambda: self.log_download(
                               self.buildlogs_path("Helicopter-log.bin")))
 
-        except pexpect.TIMEOUT as e:
+        except pexpect.TIMEOUT:
             self.fail_list.append("Failed with timeout")
 
         self.close()

Tools/autotest/arduplane.py

@@ -587,7 +587,7 @@ class AutoTestPlane(AutoTest):
                           lambda: self.log_download(
                               self.buildlogs_path("ArduPlane-log.bin")))
 
-        except pexpect.TIMEOUT as e:
+        except pexpect.TIMEOUT:
             self.progress("Failed with timeout")
             self.fail_list.append("timeout")
 

Tools/autotest/ardusub.py

@@ -167,7 +167,7 @@ class AutoTestSub(AutoTest):
                           lambda: self.log_download(
                               self.buildlogs_path("ArduSub-log.bin")))
 
-        except pexpect.TIMEOUT as e:
+        except pexpect.TIMEOUT:
             self.progress("Failed with timeout")
             self.fail_list.append("Failed with timeout")
 

Tools/autotest/autotest.py

@@ -33,7 +33,7 @@ def buildlogs_dirpath():
 
 
 def buildlogs_path(path):
-    '''return a string representing path in the buildlogs directory'''
+    """return a string representing path in the buildlogs directory"""
     bits = [buildlogs_dirpath()]
     if isinstance(path, list):
         bits.extend(path)

Tools/autotest/common.py

@@ -103,6 +103,7 @@ class Context(object):
     def __init__(self):
         self.parameters = []
 
+
 class AutoTest(ABC):
     """Base abstract class.
     It implements the common function for all vehicle types.
@@ -131,7 +132,7 @@ class AutoTest(ABC):
         return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))
 
     def buildlogs_path(self, path):
-        '''return a string representing path in the buildlogs directory'''
+        """Return a string representing path in the buildlogs directory."""
         bits = [self.buildlogs_dirpath()]
         if isinstance(path, list):
             bits.extend(path)
@@ -140,7 +141,7 @@ class AutoTest(ABC):
         return os.path.join(*bits)
 
     def sitl_streamrate(self):
-        '''allow subclasses to override SITL streamrate'''
+        """Allow subclasses to override SITL streamrate."""
         return 10
 
     def autotest_connection_hostport(self):
@@ -155,7 +156,7 @@ class AutoTest(ABC):
         return "tcp:" + self.autotest_connection_hostport()
 
     def mavproxy_options(self):
-        '''returns options to be passed to MAVProxy'''
+        """Returns options to be passed to MAVProxy."""
         ret = ['--sitl=127.0.0.1:5501',
                '--out=' + self.autotest_connection_string_from_mavproxy(),
                '--streamrate=%u' % self.sitl_streamrate()]
@@ -170,8 +171,7 @@ class AutoTest(ABC):
         return self.log_name
 
     def apply_defaultfile_parameters(self):
-        '''apply parameter file'''
-
+        """Apply parameter file."""
         # setup test parameters
         vinfo = vehicleinfo.VehicleInfo()
         if self.params is None:
@@ -192,6 +192,7 @@ class AutoTest(ABC):
         self.mavproxy.expect("Received [0-9]+ parameters")
 
     def reboot_sitl(self):
+        """Reboot SITL instance and wait it to reconnect."""
         self.mavproxy.send("reboot\n")
         self.mavproxy.expect("tilt alignment complete")
         # empty mav to avoid getting old timestamps:
@@ -222,7 +223,7 @@ class AutoTest(ABC):
         self.progress("Reboot complete")
 
     def close(self):
-        '''tidy up after running all tests'''
+        """Tidy up after running all tests."""
         if self.use_map:
             self.mavproxy.send("module unload map\n")
             self.mavproxy.expect("Unloaded module map")
@@ -407,7 +408,7 @@ class AutoTest(ABC):
             self.set_rc(3, 1000)
 
     def armed(self):
-        '''Return true if vehicle is armed and safetyoff'''
+        """Return true if vehicle is armed and safetyoff"""
         return self.mav.motors_armed()
 
     def arm_vehicle(self):
@@ -482,6 +483,7 @@ class AutoTest(ABC):
         return False
 
     def set_parameter(self, name, value, add_to_context=True):
+        """Set parameters from vehicle."""
         old_value = self.get_parameter(name, retry=2)
         for i in range(1, 10):
             self.mavproxy.send("param set %s %s\n" % (name, str(value)))
@@ -489,13 +491,14 @@ class AutoTest(ABC):
             if returned_value == float(value):
                 # yes, exactly equal.
                 if add_to_context:
-                    self.context_get().parameters.append( (name, old_value) )
+                    self.context_get().parameters.append((name, old_value))
                 return
             self.progress("Param fetch returned incorrect value (%s) vs (%s)"
                           % (returned_value, value))
         raise ValueError()
 
     def get_parameter(self, name, retry=1, timeout=60):
+        """Get parameters from vehicle."""
         for i in range(0, retry):
             self.mavproxy.send("param fetch %s\n" % name)
             try:
@@ -506,15 +509,17 @@ class AutoTest(ABC):
                     continue
 
     def context_get(self):
+        """Get Saved parameters."""
         return self.contexts[-1]
 
     def context_push(self):
+        """Save a copy of the parameters."""
         self.contexts.append(Context())
 
     def context_pop(self):
+        """Set parameters to origin values in reverse order."""
         dead = self.contexts.pop()
 
-        '''set paramters to origin values in reverse order'''
         dead_parameters = dead.parameters
         dead_parameters.reverse()
         for p in dead_parameters:
@@ -533,6 +538,7 @@ class AutoTest(ABC):
                 p6,
                 p7,
                 want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
+        """Send a MAVLink command long."""
         self.mav.mav.command_long_send(1,
                                        1,
                                        command,
@@ -644,7 +650,7 @@ class AutoTest(ABC):
             self.mav.recv_match(condition='RC_CHANNELS.chan1_raw==1500',
                                 blocking=True)
 
-    def reach_distance_manual(self,  distance):
+    def reach_distance_manual(self, distance):
         """Manually direct the vehicle to the target distance from home."""
         if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
                                  mavutil.mavlink.MAV_TYPE_HELICOPTER,
@@ -697,7 +703,6 @@ class AutoTest(ABC):
 
     def wait_altitude(self, alt_min, alt_max, timeout=30, relative=False):
         """Wait for a given altitude range."""
-        climb_rate = 0
         previous_alt = 0
 
         tstart = self.get_sim_time()
@@ -836,7 +841,7 @@ class AutoTest(ABC):
             self.progress("Distance %.2f meters alt %.1f" % (delta, pos.alt))
             if delta <= accuracy:
                 height_delta = math.fabs(pos.alt - target_altitude)
-                if (height_accuracy != -1 and height_delta > height_accuracy):
+                if height_accuracy != -1 and height_delta > height_accuracy:
                     continue
                 self.progress("Reached location (%.2f meters)" % delta)
                 return True
@@ -912,11 +917,11 @@ class AutoTest(ABC):
         self.mav.wait_heartbeat()
         while self.mav.flightmode != mode:
             if (timeout is not None and
-                self.get_sim_time() > tstart + timeout):
+                    self.get_sim_time() > tstart + timeout):
                 raise WaitModeTimeout()
             self.mav.wait_heartbeat()
-#            self.progress("heartbeat mode %s Want: %s" % (
-#                    self.mav.flightmode, mode))
+        # self.progress("heartbeat mode %s Want: %s" % (
+        # self.mav.flightmode, mode))
         self.progress("Got mode %s" % mode)
 
     def wait_ready_to_arm(self, timeout=None):
@@ -990,11 +995,11 @@ class AutoTest(ABC):
         self.mav.message_hooks.append(self.message_hook)
         self.mav.idle_hooks.append(self.idle_hook)
 
-    def run_test(self, desc, function, interact=False):
+    def run_test(self, desc, test_function, interact=False):
         self.start_test(desc)
 
         try:
-            function()
+            test_function()
         except Exception as e:
             self.progress('FAILED: "%s": %s' % (desc, repr(e)))
             self.fail_list.append((desc, e))

Tools/autotest/pysim/util.py

@@ -21,6 +21,8 @@ if (sys.version_info[0] >= 3):
 else:
     ENCODING = None
 
+RADIUS_OF_EARTH = 6378100.0  # in meters
+
 def m2ft(x):
     """Meters to feet."""
     return float(x) / 0.3048
@@ -208,6 +210,7 @@ def kill_screen_gdb():
     cmd = ["screen", "-X", "-S", "ardupilot-gdb", "quit"]
     subprocess.Popen(cmd)
 
+
 def start_SITL(binary,
                valgrind=False,
                gdb=False,
@@ -297,7 +300,6 @@ def start_SITL(binary,
     first = cmd[0]
     rest = cmd[1:]
     child = pexpect.spawn(first, rest, logfile=sys.stdout, encoding=ENCODING, timeout=5)
-    delaybeforesend = 0
     pexpect_autoclose(child)
     # give time for parameters to properly setup
     time.sleep(3)
@@ -446,8 +448,6 @@ def BodyRatesToEarthRates(dcm, gyro):
     psiDot   = (q * sin(phi) + r * cos(phi)) / cos(theta)
     return Vector3(phiDot, thetaDot, psiDot)
 
-radius_of_earth = 6378100.0  # in meters
-
 
 def gps_newpos(lat, lon, bearing, distance):
     """Extrapolate latitude/longitude given a heading and distance
@@ -458,7 +458,7 @@ def gps_newpos(lat, lon, bearing, distance):
     lat1 = radians(lat)
     lon1 = radians(lon)
     brng = radians(bearing)
-    dr = distance / radius_of_earth
+    dr = distance / RADIUS_OF_EARTH
 
     lat2 = asin(sin(lat1) * cos(dr) +
                 cos(lat1) * sin(dr) * cos(brng))
@@ -480,7 +480,7 @@ def gps_distance(lat1, lon1, lat2, lon2):
 
     a = math.sin(0.5 * dLat)**2 + math.sin(0.5 * dLon)**2 * math.cos(lat1) * math.cos(lat2)
     c = 2.0 * math.atan2(math.sqrt(a), math.sqrt(1.0 - a))
-    return radius_of_earth * c
+    return RADIUS_OF_EARTH * c
 
 
 def gps_bearing(lat1, lon1, lat2, lon2):
@@ -539,7 +539,7 @@ class Wind(object):
         return (speed, self.direction)
 
     # Calculate drag.
-    def drag(self, velocity, deltat=None, testing=None):
+    def drag(self, velocity, deltat=None):
         """Return current wind force in Earth frame.  The velocity parameter is
            a Vector3 of the current velocity of the aircraft in earth frame, m/s ."""
         from math import radians
@@ -633,6 +633,7 @@ def constrain(value, minv, maxv):
         value = maxv
     return value
 
+
 if __name__ == "__main__":
     import doctest
     doctest.testmod()

Tools/autotest/quadplane.py

@@ -65,7 +65,7 @@ class AutoTestQuadPlane(AutoTest):
                                     gdb=self.gdb,
                                     gdbserver=self.gdbserver,
                                     breakpoints=self.breakpoints,
-        )
+                                    )
         self.mavproxy = util.start_MAVProxy_SITL(
             'QuadPlane', options=self.mavproxy_options())
         self.mavproxy.expect('Telemetry log: (\S+)\r\n')
@@ -161,7 +161,7 @@ class AutoTestQuadPlane(AutoTest):
                              "ArduPlane-Missions/Dalby-OBC2016-fence.txt")
 
             self.run_test("Mission", lambda: self.fly_mission(m, f))
-        except pexpect.TIMEOUT as e:
+        except pexpect.TIMEOUT:
             self.progress("Failed with timeout")
             self.fail_list.append("Failed with timeout")
 

Tools/autotest/sim_vehicle.py

@@ -80,10 +80,10 @@ class CompatOptionParser(optparse.OptionParser):
 
                 for line in help_text.split("\n"):
                     help_lines = tw.wrap(line)
-                    for line in help_lines:
+                    for wline in help_lines:
                         result.extend(["%*s%s\n" % (self.help_position,
                                                     "",
-                                                    line)])
+                                                    wline)])
             elif opts[-1] != "\n":
                 result.append("\n")
             return "".join(result)
@@ -101,10 +101,10 @@ class CompatOptionParser(optparse.OptionParser):
                                        **kwargs)
 
     def error(self, error):
-        '''Override default error handler called by
+        """Override default error handler called by
         optparse.OptionParser.parse_args when a parse error occurs;
         raise a detailed exception which can be caught
-        '''
+        """
         if error.find("no such option") != -1:
             raise CompatError(error, self.values, self.rargs)
 
@@ -504,18 +504,18 @@ def run_in_terminal_window(autotest, name, cmd):
 tracker_uarta = None  # blemish
 
 
-def start_antenna_tracker(autotest, cmd_opts):
+def start_antenna_tracker(autotest, opts):
     """Compile and run the AntennaTracker, add tracker to mavproxy"""
 
     global tracker_uarta
     progress("Preparing antenna tracker")
     tracker_home = find_location_by_name(find_autotest_dir(),
-                                         cmd_opts.tracker_location)
+                                         opts.tracker_location)
     vehicledir = os.path.join(autotest, "../../" + "AntennaTracker")
-    opts = vinfo.options["AntennaTracker"]
-    tracker_default_frame = opts["default_frame"]
-    tracker_frame_options = opts["frames"][tracker_default_frame]
-    do_build(vehicledir, cmd_opts, tracker_frame_options)
+    options = vinfo.options["AntennaTracker"]
+    tracker_default_frame = options["default_frame"]
+    tracker_frame_options = options["frames"][tracker_default_frame]
+    do_build(vehicledir, opts, tracker_frame_options)
     tracker_instance = 1
     oldpwd = os.getcwd()
     os.chdir(vehicledir)