From eb50096161d595d3f1f36e01ac64e57df4be0a87 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 1 Apr 2025 14:36:16 +1100 Subject: [PATCH] Tools: tweak MAV parameter names --- Tools/autotest/arducopter.py | 10 ++++----- Tools/autotest/arduplane.py | 6 ++--- .../default_params/vee-gull_005.param | 3 +-- Tools/autotest/rover.py | 22 +++++++++---------- Tools/autotest/vehicle_test_suite.py | 4 ++-- 5 files changed, 22 insertions(+), 23 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 5ad8fc8c661..3a6fcb9a458 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -633,7 +633,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite): # Trigger an RC failure in guided mode with the option enabled # to continue in guided. Verify no failsafe action takes place self.start_subtest("Radio failsafe with option to continue in guided mode: FS_THR_ENABLE=1 & FS_OPTIONS=4") - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) self.setGCSfailsafe(1) self.set_parameter('FS_THR_ENABLE', 1) self.set_parameter('FS_OPTIONS', 4) @@ -744,7 +744,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite): def test_gcs_failsafe(self, side=60, timeout=360): # Test double-SmartRTL; ensure we do SmarRTL twice rather than # landing (tests fix for actual bug) - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) self.context_push() self.start_subtest("GCS failsafe SmartRTL twice") self.setGCSfailsafe(3) @@ -5972,7 +5972,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite): '''Test Camera/Antenna Mount vehicle yawing for ROI''' self.context_push() - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) yaw_servo = 7 self.setup_servo_mount(yaw_servo=yaw_servo) self.reboot_sitl() # to handle MNT1_TYPE changing @@ -7450,7 +7450,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite): def MANUAL_CONTROL(self): '''test MANUAL_CONTROL mavlink message''' - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) self.change_mode('STABILIZE') self.takeoff(10) @@ -11591,7 +11591,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite): def _MAV_CMD_DO_FLIGHTTERMINATION(self, command): self.set_parameters({ - "MAV_MYGCS_SYSID": self.mav.source_system, + "MAV_GCS_SYSID": self.mav.source_system, "DISARM_DELAY": 0, }) self.wait_ready_to_arm() diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 15f7de353a7..e8c3eb2da0c 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -1336,7 +1336,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite): "FS_GCS_ENABL": 1, "FS_LONG_ACTN": 1, "RTL_AUTOLAND": 1, - "MAV_MYGCS_SYSID": self.mav.source_system, + "MAV_GCS_SYSID": self.mav.source_system, }) self.takeoff() self.change_mode('LOITER') @@ -5645,7 +5645,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite): def MANUAL_CONTROL(self): '''test MANUAL_CONTROL mavlink message''' - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) self.progress("Takeoff") self.takeoff(alt=50) @@ -6269,7 +6269,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite): def _MAV_CMD_DO_FLIGHTTERMINATION(self, command): self.set_parameters({ "AFS_ENABLE": 1, - "MAV_MYGCS_SYSID": self.mav.source_system, + "MAV_GCS_SYSID": self.mav.source_system, "AFS_TERM_ACTION": 42, }) self.wait_ready_to_arm() diff --git a/Tools/autotest/default_params/vee-gull_005.param b/Tools/autotest/default_params/vee-gull_005.param index 41720e30ad6..60aee264cca 100644 --- a/Tools/autotest/default_params/vee-gull_005.param +++ b/Tools/autotest/default_params/vee-gull_005.param @@ -738,8 +738,7 @@ STEER2SRV_P,1.8 STEER2SRV_TCONST,0.75 STICK_MIXING,1 SYS_NUM_RESETS,1 -MAV_MYGCS_ENFRCE,0 -MAV_MYGCS_SYSID,255 +MAV_GCS_SYSID,255 SYSID_SW_TYPE,0 MAV_SYSID,1 TECS_APPR_SMAX,0 diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py index 3ee0c9a1a92..f20dca3930f 100644 --- a/Tools/autotest/rover.py +++ b/Tools/autotest/rover.py @@ -770,7 +770,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) def RCOverridesCancel(self): '''Test RC overrides Cancel''' - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) self.change_mode('MANUAL') self.wait_ready_to_arm() self.zero_throttle() @@ -841,7 +841,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) def RCOverrides(self): '''Test RC overrides''' - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) self.set_parameter("RC12_OPTION", 46) self.reboot_sitl() @@ -1074,7 +1074,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) def MANUAL_CONTROL(self): '''Test mavlink MANUAL_CONTROL''' self.set_parameters({ - "MAV_MYGCS_SYSID": self.mav.source_system, + "MAV_GCS_SYSID": self.mav.source_system, "RC12_OPTION": 46, # enable/disable rc overrides }) self.reboot_sitl() @@ -1231,8 +1231,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) self.mavproxy_do_set_mode_via_command_long(mavproxy, "MANUAL") self.stop_mavproxy(mavproxy) - def MAV_MYGCS_ENFRCE(self): - '''Test enforcement of MAV_MYGCS_SYSID''' + def MAV_GCS_ENFORCE(self): + '''Test enforcement of strict mode for MAV_GCS_SYSID''' '''Run the same arming code with correct then incorrect SYSID''' if self.mav.source_system != self.mav.mav.srcSystem: @@ -1242,8 +1242,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) old_srcSystem = self.mav.mav.srcSystem ex = None try: - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) - self.set_parameter("MAV_MYGCS_ENFRCE", 1, add_to_context=False) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_OPTIONS", 1, add_to_context=False) self.change_mode('MANUAL') @@ -1267,7 +1267,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) success = True self.mav.mav.srcSystem = old_srcSystem if not success: - raise NotAchievedException("Managed to arm with MAV_MYGCS_ENFRCE set") + raise NotAchievedException("Managed to arm with MAV_GCS enforce set") # should be able to arm from the vehicle's own components: self.progress("Attempting to arm vehicle from vehicle component") @@ -1286,7 +1286,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) self.print_exception_caught(e) ex = e self.mav.mav.srcSystem = old_srcSystem - self.set_parameter("MAV_MYGCS_ENFRCE", 0, add_to_context=False) + self.set_parameter("MAV_OPTIONS", 0, add_to_context=False) self.context_pop() if ex is not None: raise ex @@ -1768,7 +1768,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) raise ex def test_gcs_failsafe(self, side=60, timeout=360): - self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system) + self.set_parameter("MAV_GCS_SYSID", self.mav.source_system) self.set_parameter("FS_ACTION", 1) self.set_parameter("FS_THR_ENABLE", 0) # disable radio FS as it inhibt GCS one's @@ -6914,7 +6914,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) self.SET_MESSAGE_INTERVAL, self.MESSAGE_INTERVAL_COMMAND_INT, self.REQUEST_MESSAGE, - self.MAV_MYGCS_ENFRCE, + self.MAV_GCS_ENFORCE, self.SET_ATTITUDE_TARGET, self.SET_ATTITUDE_TARGET_heading, self.SET_POSITION_TARGET_LOCAL_NED, diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index c86bdb34bcc..656232d9807 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -12529,7 +12529,7 @@ switch value''' self.assert_no_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION) self.set_parameters({ "AFS_ENABLE": 1, - "MAV_MYGCS_SYSID": self.mav.source_system, + "MAV_GCS_SYSID": self.mav.source_system, }) self.drain_mav() self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION) @@ -12603,7 +12603,7 @@ switch value''' '''ensure GPS can be used as a fallback in case of baro dying''' self.set_parameters({ "AFS_ENABLE": 1, - "MAV_MYGCS_SYSID": self.mav.source_system, + "MAV_GCS_SYSID": self.mav.source_system, "AFS_AMSL_LIMIT": 1000, "AFS_QNH_PRESSURE": 1000, "AFS_AMSL_ERR_GPS": 10,