autotest: use internal copter sim for autotest

Tools/autotest/apmrover2.py

@@ -104,9 +104,6 @@ def drive_APMrover2(viewerip=None, map=False):
     logfile = mavproxy.match.group(1)
     print("LOGFILE %s" % logfile)
 
-    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=rover --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
-        HOME.lat, HOME.lng, HOME.alt, HOME.heading)
-
     buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
     print("buildlog=%s" % buildlog)
     if os.path.exists(buildlog):

Tools/autotest/arducopter.py

@@ -1271,7 +1271,7 @@ def fly_CopterAVC(viewerip=None, map=False):
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
 
-    sil = util.start_SIL('ArduCopter', height=HOME.alt)
+    sil = util.start_SIL('ArduCopter', height=HOME.alt, model='+', home=home, speedup=10)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip

Tools/autotest/autotest.py

@@ -22,15 +22,10 @@ def get_default_params(atype):
     if atype in ['APMrover2', 'ArduPlane']:
         frame = 'rover'
     else:
-        frame = 'quad'
-    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=%s --rate=400 --speedup=10 --home=%f,%f,%u,%u' % (
-        frame, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
+        frame = '+'
 
-    runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
-    runsim.delaybeforesend = 0
-    runsim.expect('Starting at lat')
-
-    sil = util.start_SIL(atype, wipe=True)
+    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
+    sil = util.start_SIL(atype, wipe=True, model=frame, home=home, speedup=10)
     mavproxy = util.start_MAVProxy_SIL(atype)
     print("Dumping defaults")
     idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
@@ -38,7 +33,7 @@ def get_default_params(atype):
         # we need to restart it after eeprom erase
         util.pexpect_close(mavproxy)
         util.pexpect_close(sil)
-        sil = util.start_SIL(atype)
+        sil = util.start_SIL(atype, model=frame, home=home, speedup=10)
         mavproxy = util.start_MAVProxy_SIL(atype)
         idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
     parmfile = mavproxy.match.group(1)
@@ -46,7 +41,6 @@ def get_default_params(atype):
     shutil.copy(parmfile, dest)
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
-    util.pexpect_close(runsim)
     print("Saved defaults for %s to %s" % (atype, dest))
     return True