Tools: autotest: refactor setting of rc defaults

Tools/autotest/apmrover2.py

@@ -1014,10 +1014,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             ])
         return ret
 
-    def set_rc_default(self):
+    def rc_defaults(self):
-        super(AutoTestRover, self).set_rc_default()
+        ret = super(AutoTestRover, self).rc_defaults()
-        self.set_rc(3, 1000)
+        ret[3] = 1000
-        self.set_rc(8, 1800)
+        ret[8] = 1800
+        return ret;
 
     def default_mode(self):
         return 'MANUAL'

Tools/autotest/arducopter.py

@@ -2574,9 +2574,10 @@ class AutoTestCopter(AutoTest):
     def default_mode(self):
         return "STABILIZE"
 
-    def set_rc_default(self):
+    def rc_defaults(self):
-        super(AutoTestCopter, self).set_rc_default()
+        ret = super(AutoTestCopter, self).rc_defaults()
-        self.set_rc(3, 1000)
+        ret[3] = 1000
+        return ret
 
     def tests(self):
         '''return list of all tests'''
@@ -2742,11 +2743,11 @@ class AutoTestHeli(AutoTestCopter):
                                      AVCHOME.heading)
         self.frame = 'heli'
 
-    def set_rc_default(self):
+    def rc_defaults(self):
-        super(AutoTestCopter, self).set_rc_default()
+        ret = super(AutoTestHeli, self).rc_defaults()
-        self.progress("Lowering rotor speed")
+        ret[8] = 1000
-        self.set_rc(8, 1000)
+        ret[3] = 1000 # collective
-        self.set_rc(3, 1000) # collective
+        return ret
 
     def tests(self):
         '''return list of all tests'''

Tools/autotest/arduplane.py

@@ -730,10 +730,11 @@ class AutoTestPlane(AutoTest):
                          lambda: self.fly_mission(
                              os.path.join(testdir, "ap1.txt")))
 
-    def set_rc_default(self):
+    def rc_defaults(self):
-        super(AutoTestPlane, self).set_rc_default()
+        ret = super(AutoTestPlane, self).rc_defaults()
-        self.set_rc(3, 1000)
+        ret[3] = 1000
-        self.set_rc(8, 1800)
+        ret[8] = 1800
+        return ret
 
     def default_mode(self):
         return "MANUAL"

Tools/autotest/balancebot.py

@@ -53,9 +53,10 @@ class AutoTestBalanceBot(AutoTestRover):
         self.do_set_mode_via_command_long("HOLD")
         self.do_set_mode_via_command_long("MANUAL")
 
-    def set_rc_default(self):
+    def rc_defaults(self):
-        super(AutoTestBalanceBot, self).set_rc_default()
+        ret = super(AutoTestBalanceBot, self).rc_defaults()
-        self.set_rc(3, 1500)
+        ret[3] = 1500
+        return ret
 
     def tests(self):
         '''return list of all tests'''

Tools/autotest/common.py

@@ -602,10 +602,36 @@ class AutoTest(ABC):
         self.progress("num_wp: %d" % num_wp)
         return num_wp
 
+    def rc_defaults(self):
+        return {
+            1: 1500,
+            2: 1500,
+            3: 1500,
+            4: 1500,
+            5: 1500,
+            6: 1500,
+            7: 1500,
+            8: 1500,
+            9: 1500,
+            10: 1500,
+            11: 1500,
+            12: 1500,
+            13: 1500,
+            14: 1500,
+            15: 1500,
+            16: 1500,
+        }
+
+    def set_rc_from_map(self, _map):
+        for chan in _map:
+            value = _map[chan]
+            self.set_rc(chan, value)
+#            self.mavproxy.send('rc %u value\n' % (chan, value))
+
     def set_rc_default(self):
         """Setup all simulated RC control to 1500."""
-        for chan in range(1, 16):
+        _defaults = self.rc_defaults()
-            self.mavproxy.send('rc %u 1500\n' % chan)
+        self.set_rc_from_map(_defaults)
 
     def set_rc(self, chan, pwm, timeout=2000):
         """Setup a simulated RC control to a PWM value"""