Python util.pexpect_close函数代码示例

def fly_CopterAVC(viewerip=None, map=False):
    '''fly ArduCopter in SIL for AVC2013 mission
    '''
    global homeloc

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    sil = util.start_SIL('ArduCopter', wipe=True, model='heli', home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/Helicopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', model='heli', home=home, speedup=speedup_default)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Telemetry log: (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    if map:
        mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
        mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')        

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False, gdb=False):
    """fly ArduCopter in SIL for AVC2013 mission
    """
    global homeloc

    home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    sil = util.start_SIL(binary, wipe=True, model="heli", home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options="--sitl=127.0.0.1:5501 --out=127.0.0.1:19550")
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/Helicopter.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")
    mavproxy.send("param set LOG_REPLAY 1\n")
    mavproxy.send("param set LOG_DISARMED 1\n")
    time.sleep(3)

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL(binary, model="heli", home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
    options = "--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += " --map"
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options=options)
    mavproxy.expect("Telemetry log: (\S+)")
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    if map:
        mavproxy.send("map icon 40.072467969730496 -105.2314389590174\n")
        mavproxy.send("map icon 40.072600990533829 -105.23146100342274\n")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection("127.0.0.1:19550", robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def dump_logs(atype):
    '''dump DataFlash logs'''
    print("Dumping logs for %s" % atype)
    sil = util.start_SIL(atype)
    logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
    log = open(logfile, mode='w')
    mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
    mavproxy.send('\n\n\n')
    print("navigating menus")
    mavproxy.expect(']')
    mavproxy.send("logs\n")
    mavproxy.expect("logs enabled:")
    lognums = []
    i = mavproxy.expect(["No logs", "(\d+) logs"])
    if i == 0:
        numlogs = 0
    else:
        numlogs = int(mavproxy.match.group(1))
    for i in range(numlogs):
        mavproxy.expect("Log (\d+),")
        lognums.append(int(mavproxy.match.group(1)))
    mavproxy.expect("Log]")
    for i in range(numlogs):
        print("Dumping log %u (i=%u)" % (lognums[i], i))
        mavproxy.send("dump %u\n" % lognums[i])
        mavproxy.expect("logs enabled:", timeout=120)
        mavproxy.expect("Log]")
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    log.close()
    print("Saved log for %s to %s" % (atype, logfile))
    return True

def get_default_params(atype):
    '''get default parameters'''

    # use rover simulator so SITL is not starved of input
    from pymavlink import mavutil
    HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)

    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)
    mavproxy = util.start_MAVProxy_SIL(atype)
    print("Dumping defaults")
    idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
    if idx == 0:
        # we need to restart it after eeprom erase
        util.pexpect_close(mavproxy)
        util.pexpect_close(sil)
        sil = util.start_SIL(atype)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = 'buildlogs/%s-defaults.parm' % 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

def drive_APMrover2(viewerip=None):
    '''drive APMrover2 in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the mission in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip

    sil = util.start_SIL('APMrover2', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=50 --home=%f,%f,%u,%u' % (
        HOME.lat, HOME.lng, HOME.alt, HOME.heading)

    runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Starting at lat')

    sil = util.start_SIL('APMrover2')
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/APMrover2-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def drive_APMrover2(viewerip=None, map=False, valgrind=False):
    '''drive APMrover2 in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the mission in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += ' --map'

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL('APMrover2', wipe=True, model='rover', home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)

    print("WAITING FOR PARAMETERS")
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('APMrover2', model='rover', home=home, speedup=10, valgrind=valgrind)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Telemetry log: (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_ArduCopter_scripted(testname):
    '''fly ArduCopter in SIL

    '''
    global homeloc

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += ' --wind=6,45,.3'

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'

    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

    util.expect_setup_callback(mavproxy, arducopter.expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def run_mission(mission_path, frame, home, viewerip=None):
  sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py')
  sim_cmd += ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
    frame, home.lat, home.lng, home.alt, home.heading)
  sim_cmd += ' --wind=6,45,.3'
  if viewerip:
    sim_cmd += ' --fgout=%s:5503' % viewerip

  sil = util.start_SIL('ArduCopter', wipe=True)
  mavproxy = util.start_MAVProxy_SIL(
    'ArduCopter',
    options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
  mavproxy.expect('Received [0-9]+ parameters')

  # setup test parameters
  mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
  mavproxy.send("param load %s/autotest/ArduCopter.parm\n" % testdir)
  mavproxy.expect('Loaded [0-9]+ parameters')
  mavproxy.send('module load mmap\n')

  # reboot with new parameters
  util.pexpect_close(mavproxy)
  util.pexpect_close(sil)

  sil = util.start_SIL('ArduCopter', height=home.alt)
  print 'Executing command %s' % (sim_cmd,)
  sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
  sim.delaybeforesend = 0
  util.pexpect_autoclose(sim)
  options = ('--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter '
             '--streamrate=5')
  if viewerip:
      options += ' --out=%s:14550' % viewerip
  mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
  mavproxy.expect('Logging to (\S+)')
  logfile = mavproxy.match.group(1)
  print 'Saving log %s' % (logfile,)

  # the received parameters can come before or after the ready to fly message
  mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
  mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

  mavproxy.send('module load mmap\n')
  util.expect_setup_callback(mavproxy, common.expect_callback)

  common.expect_list_clear()
  common.expect_list_extend([sim, sil, mavproxy])

  # get a mavlink connection going
  try:
    mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
  except Exception, msg:
    error("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
    raise

def get_default_params(atype, binary):
    '''get default parameters'''

    # use rover simulator so SITL is not starved of input
    from pymavlink import mavutil
    HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
    if binary.find("plane") != -1 or binary.find("rover") != -1:
        frame = "rover"
    else:
        frame = "+"

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL(binary, 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+)'])
    if idx == 0:
        # we need to restart it after eeprom erase
        util.pexpect_close(mavproxy)
        util.pexpect_close(sil)
        sil = util.start_SIL(binary, 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)
    dest = util.reltopdir('../buildlogs/%s-defaults.parm' % atype)
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True

def get_default_params(atype):
    """get default parameters"""
    sil = util.start_SIL(atype, wipe=True)
    mavproxy = util.start_MAVProxy_SIL(atype)
    print("Dumping defaults")
    idx = mavproxy.expect(["Please Run Setup", "Saved [0-9]+ parameters to (\S+)"])
    if idx == 0:
        # we need to restart it after eeprom erase
        util.pexpect_close(mavproxy)
        util.pexpect_close(sil)
        sil = util.start_SIL(atype)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect("Saved [0-9]+ parameters to (\S+)")
    parmfile = mavproxy.match.group(1)
    dest = "buildlogs/%s-defaults.parm" % atype
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True

def get_default_params(atype):
    '''get default parameters'''
    sil = util.start_SIL(atype, wipe=True)
    mavproxy = util.start_MAVProxy_SIL(atype)
    print("Dumping defaults")
    idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
    if idx == 0:
        # we need to restart it after eeprom erase
        util.pexpect_close(mavproxy)
        util.pexpect_close(sil)
        sil = util.start_SIL(atype)
        mavproxy = util.start_MAVProxy_SIL(atype)
        idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
    parmfile = mavproxy.match.group(1)
    dest = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True

    def teardown_class(cls):
        #stop MAVLink, any postrun code
        
        print('*'*20)
        print("Shutting down.")
        cls.mav.close()
        util.pexpect_close(cls.mavproxy)
        util.pexpect_close(cls.sil)
        util.pexpect_close(cls.runsim)
        util.pexpect_close_all()

        PROCNAME = ["JSBSim", "mavproxy.py"]
        for proc in psutil.process_iter():
            if proc.name in PROCNAME:
                proc.kill()

        #And just in case...
        subprocess.call('xdotool windowkill $(xdotool search --name "Map")', shell=True)
        subprocess.call('xdotool windowkill $(xdotool search --name "Console")', shell=True)

def fly_ArduPlane(viewerip=None, map=False):
    '''fly ArduPlane in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += ' --map'

    sil = util.start_SIL('ArduPlane', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    mavproxy.send("param fetch\n")

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
#    util.reltopdir("Tools/autotest/sim_arduplane_hil.sh")
#    cmd += " --home=%s --wind=%s --script='%s/jsbsim/SW13_test.xml' "% (HOME_LOCATION, WIND, testdir)
    #Original
    cmd += " --home=%s --wind=%s"% (HOME_LOCATION, WIND)
    if viewerip:
        cmd += " --fgout=%s:5503" % viewerip

    runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Simulator ready to fly')

    sil = util.start_SIL('ArduPlane')
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_CopterAVC(viewerip=None, map=False):
    '''fly ArduCopter in SIL for AVC2013 mission
    '''
    global homeloc

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    if viewerip:
        sim_cmd += ' --fgout=%s:5503' % viewerip

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/CopterAVC.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    if map:
        mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
        mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')        

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise

def fly_ArduPlane(viewerip=None, map=False):
    '''fly ArduPlane in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += ' --map'

    sil = util.start_SIL('ArduPlane', wipe=True, model='jsbsim', home=HOME_LOCATION, speedup=10)
    print("Starting MAVProxy")
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    util.expect_setup_callback(mavproxy, expect_callback)

    mavproxy.expect('Telemetry log: (\S+)')
    mavproxy.expect('Received [0-9]+ parameters',timeout=3000)

    # setup test parameters
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    mavproxy.send("param fetch\n")

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduPlane', model='jsbsim', home=HOME_LOCATION, speedup=10)
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Telemetry log: (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    util.expect_setup_callback(mavproxy, expect_callback)

    mavproxy.expect('Received [0-9]+ parameters')

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise