autotest: implement parameter files per peripheral in CI tests

this allows for one peripheral to have ESCs and the other not

Tools/autotest/arducopter.py

@@ -2620,8 +2620,23 @@ def CANGPSCopterMission(self):
             "CAN_P1_DRIVER": 1,
             "GPS_TYPE": 9,
             "GPS_TYPE2": 9,
-            "SIM_GPS2_DISABLE": 0,
-            "SIM_SPEEDUP": 5,
+            # disable simulated GPS, so only via DroneCAN
+            "SIM_GPS_DISABLE": 1,
+            "SIM_GPS2_DISABLE": 1,
+            # this ensures we use DroneCAN baro and compass
+            "SIM_BARO_COUNT" : 0,
+            "SIM_MAG1_DEVID" : 0,
+            "SIM_MAG2_DEVID" : 0,
+            "SIM_MAG3_DEVID" : 0,
+            "COMPASS_USE2"   : 0,
+            "COMPASS_USE3"   : 0,
+            # use DroneCAN rangefinder
+            "RNGFND1_TYPE" : 24,
+            "RNGFND1_MAX_CM" : 11000,
+            # use DroneCAN battery monitoring, and enforce with a arming voltage
+            "BATT_MONITOR" : 8,
+            "BATT_ARM_VOLT" : 12.0,
+            "SIM_SPEEDUP": 2,
         })
 
         self.context_push()
@@ -2719,6 +2734,17 @@ def CANGPSCopterMission(self):
         self.start_sup_program(instance=1)
         self.context_stop_collecting('STATUSTEXT')
         self.context_pop()
+
+        self.set_parameters({
+            # use DroneCAN ESCs for flight
+            "CAN_D1_UC_ESC_BM" : 0x0f,
+            # this stops us using local servo output, guaranteeing we are
+            # flying on DroneCAN ESCs
+            "SIM_CAN_SRV_MSK" : 0xFF,
+            # we can do the flight faster
+            "SIM_SPEEDUP" : 5,
+        })
+
         self.CopterMission()
 
     def TakeoffAlt(self):

Tools/autotest/autotest.py

@@ -402,7 +402,8 @@ def find_specific_test_to_run(step):
 }
 
 supplementary_test_binary_map = {
-    "test.CAN": ["sitl_periph_gps.AP_Periph", "sitl_periph_gps.AP_Periph.1"],
+    "test.CAN": ["sitl_periph_gps:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm",
+                 "sitl_periph_gps:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
 }
 
 
@@ -513,16 +514,19 @@ def run_step(step):
         if step.startswith(k):
             # this test needs to use supplementary binaries
             for supplementary_test_binary in supplementary_test_binary_map[k]:
-                config_name = supplementary_test_binary.split('.')[0]
-                binary_name = supplementary_test_binary.split('.')[1]
-                instance_num = 0
-                if len(supplementary_test_binary.split('.')) >= 3:
-                    instance_num = int(supplementary_test_binary.split('.')[2])
-                supplementary_binaries.append([util.reltopdir(os.path.join('build',
-                                                                           config_name,
-                                                                           'bin',
-                                                                           binary_name)),
-                                              '-I {}'.format(instance_num)])
+                a = supplementary_test_binary.split(':')
+                if len(a) != 4:
+                    raise ValueError("Bad supplementary_test_binary %s" % supplementary_test_binary)
+                config_name = a[0]
+                binary_name = a[1]
+                instance_num = int(a[2])
+                param_file = a[3].split(",")
+                bin_path = util.reltopdir(os.path.join('build',config_name, 'bin', binary_name))
+                customisation = '-I {}'.format(instance_num)
+                sup_binary = { "binary" : bin_path,
+                               "customisation" : customisation,
+                               "param_file" : param_file }
+                supplementary_binaries.append(sup_binary)
             # we are running in conjunction with a supplementary app
             # can't have speedup
             opts.speedup = 1.0

Tools/autotest/common.py

@@ -8061,10 +8061,11 @@ def start_SITL(self, binary=None, sitl_home=None, **sitl_args):
         count = 0
         for sup_binary in self.sup_binaries:
             self.progress("Starting Supplementary Program ", sup_binary)
-            start_sitl_args["customisations"] = [sup_binary[1]]
+            start_sitl_args["customisations"] = [sup_binary['customisation']]
             start_sitl_args["supplementary"] = True
-            start_sitl_args["stdout_prefix"] = "%s-%u" % (os.path.basename(sup_binary[0]), count)
-            sup_prog_link = util.start_SITL(sup_binary[0], **start_sitl_args)
+            start_sitl_args["stdout_prefix"] = "%s-%u" % (os.path.basename(sup_binary['binary']), count)
+            start_sitl_args["defaults_filepath"] = sup_binary['param_file']
+            sup_prog_link = util.start_SITL(sup_binary['binary'], **start_sitl_args)
             self.sup_prog.append(sup_prog_link)
             self.expect_list_add(sup_prog_link)
             count += 1
@@ -8107,25 +8108,18 @@ def start_sup_program(self, instance=None, args=None):
             "callgrind": self.callgrind,
             "wipe": True,
         }
-        if instance is None:
-            for sup_binary in self.sup_binaries:
-                start_sitl_args["customisations"] = [sup_binary[1]]
-                if args is not None:
-                    start_sitl_args["customisations"] = [sup_binary[1], args]
-                start_sitl_args["supplementary"] = True
-                sup_prog_link = util.start_SITL(sup_binary[0], **start_sitl_args)
-                time.sleep(3)
-                self.sup_prog.append(sup_prog_link) # add to list
-                self.expect_list_add(sup_prog_link) # add to expect list
-        else:
-            # start only the instance passed
-            start_sitl_args["customisations"] = [self.sup_binaries[instance][1]]
+        for i in range(len(self.sup_binaries)):
+            if instance is not None and instance != i:
+                continue
+            sup_binary = self.sup_binaries[i]
+            start_sitl_args["customisations"] = [sup_binary['customisation']]
             if args is not None:
-                start_sitl_args["customisations"] = [self.sup_binaries[instance][1], args]
+                start_sitl_args["customisations"] = [sup_binary['customisation'], args]
             start_sitl_args["supplementary"] = True
-            sup_prog_link = util.start_SITL(self.sup_binaries[instance][0], **start_sitl_args)
-            time.sleep(3)
-            self.sup_prog[instance] = sup_prog_link # add to list
+            start_sitl_args["defaults_filepath"] = sup_binary['param_file']
+            sup_prog_link = util.start_SITL(sup_binary['binary'], **start_sitl_args)
+            time.sleep(1)
+            self.sup_prog[i] = sup_prog_link # add to list
             self.expect_list_add(sup_prog_link) # add to expect list
 
     def sitl_is_running(self):

Tools/autotest/default_params/periph.parm

@@ -7,3 +7,13 @@ ARSPD_TYPE 100
 RNGFND1_TYPE 100
 RNGFND1_MAX_CM 12000
 BATT_MONITOR 4
+
+# by default disable motors/servos, overridden in vehicle specific parameters
+OUT1_FUNCTION -1
+OUT2_FUNCTION -1
+OUT3_FUNCTION -1
+OUT4_FUNCTION -1
+OUT5_FUNCTION -1
+OUT6_FUNCTION -1
+OUT7_FUNCTION -1
+OUT8_FUNCTION -1

Tools/autotest/default_params/quad-periph.parm

@@ -1,5 +1,7 @@
 # extra parameters for SITL peripheral quadplane
 
+SIM_CAN_SRV_MSK 0x0f
+
 # ESCs
 OUT1_FUNCTION 33
 OUT1_MIN 1000

Tools/autotest/default_params/quadplane-periph.parm

@@ -1,5 +1,7 @@
 # extra parameters for SITL peripheral quadplane
 
+SIM_CAN_SRV_MSK 0xff
+
 # control surfaces
 OUT1_FUNCTION 51
 OUT2_FUNCTION 52

Tools/autotest/pysim/util.py

@@ -536,20 +536,21 @@ def start_SITL(binary,
             cmd.extend(['--speedup', str(speedup)])
         if sim_rate_hz is not None:
             cmd.extend(['--rate', str(sim_rate_hz)])
-        if defaults_filepath is not None:
-            if type(defaults_filepath) == list:
-                defaults = [reltopdir(path) for path in defaults_filepath]
-                if len(defaults):
-                    cmd.extend(['--defaults', ",".join(defaults)])
-            else:
-                cmd.extend(['--defaults', reltopdir(defaults_filepath)])
         if unhide_parameters:
             cmd.extend(['--unhide-groups'])
         # somewhere for MAVProxy to connect to:
         cmd.append('--uartC=tcp:2')
         if not enable_fgview_output:
             cmd.append("--disable-fgview")
 
+    if defaults_filepath is not None:
+        if type(defaults_filepath) == list:
+            defaults = [reltopdir(path) for path in defaults_filepath]
+            if len(defaults):
+                cmd.extend(['--defaults', ",".join(defaults)])
+        else:
+            cmd.extend(['--defaults', reltopdir(defaults_filepath)])
+
     cmd.extend(customisations)
 
     pexpect_logfile_prefix = stdout_prefix