Tools: fix helicopter.py

bnsgeyer · Apr 22, 2024 · d90d61b · d90d61b
1 parent 63faf03
commit d90d61b
Showing 1 changed file with 38 additions and 21 deletions.
diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
@@ -872,22 +872,9 @@ def AutoTune(self):
         self.change_mode('AUTOTUNE')
 
         tstart = self.get_sim_time()
-        sim_time_expected = 5000
-        deadline = tstart + sim_time_expected
-        while self.get_sim_time_cached() < deadline:
-            now = self.get_sim_time_cached()
-            m = self.mav.recv_match(type='STATUSTEXT',
-                                    blocking=True,
-                                    timeout=1)
-            if m is None:
-                continue
-            self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
-            if "AutoTune: Success" in m.text:
-                self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
-                continue
-
-        raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
-                                   (self.get_sim_time() - tstart))
+        self.wait_statustext('AutoTune: Success', timeout=1000)
+        now = self.get_sim_time()
+        self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
 
         self.set_rc(3, 1000)
         self.context_collect('STATUSTEXT')
@@ -914,8 +901,14 @@ def AutoTune(self):
         self.wait_statustext('AutoTune: Success', timeout=1000)
         now = self.get_sim_time()
         self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
-        self.land_and_disarm()
+
+        self.set_rc(3, 1000)
+        self.context_collect('STATUSTEXT')
+        self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
+                             check_context=True,
+                             regex=True)
         self.set_rc(8, 1000)
+        self.wait_disarmed()
 
         # test Roll rate P and Rate D tuning
         self.set_parameters({
@@ -934,8 +927,14 @@ def AutoTune(self):
         self.wait_statustext('AutoTune: Success', timeout=1000)
         now = self.get_sim_time()
         self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
-        self.land_and_disarm()
+
+        self.set_rc(3, 1000)
+        self.context_collect('STATUSTEXT')
+        self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
+                             check_context=True,
+                             regex=True)
         self.set_rc(8, 1000)
+        self.wait_disarmed()
 
         # test Roll and pitch angle P tuning
         self.set_parameters({
@@ -956,8 +955,14 @@ def AutoTune(self):
         self.wait_statustext('AutoTune: Success', timeout=1000)
         now = self.get_sim_time()
         self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
-        self.land_and_disarm()
+
+        self.set_rc(3, 1000)
+        self.context_collect('STATUSTEXT')
+        self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
+                             check_context=True,
+                             regex=True)
         self.set_rc(8, 1000)
+        self.wait_disarmed()
 
         # test yaw FF and rate P and Rate D
         self.set_parameters({
@@ -978,8 +983,14 @@ def AutoTune(self):
         self.wait_statustext('AutoTune: Success', timeout=1000)
         now = self.get_sim_time()
         self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
-        self.land_and_disarm()
+
+        self.set_rc(3, 1000)
+        self.context_collect('STATUSTEXT')
+        self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
+                             check_context=True,
+                             regex=True)
         self.set_rc(8, 1000)
+        self.wait_disarmed()
 
         # test yaw angle P tuning
         self.set_parameters({
@@ -1000,8 +1011,14 @@ def AutoTune(self):
         self.wait_statustext('AutoTune: Success', timeout=1000)
         now = self.get_sim_time()
         self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
-        self.land_and_disarm()
+
+        self.set_rc(3, 1000)
+        self.context_collect('STATUSTEXT')
+        self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
+                             check_context=True,
+                             regex=True)
         self.set_rc(8, 1000)
+        self.wait_disarmed()
 
     def tests(self):
         '''return list of all tests'''