vehicle_test_suite.py

'''
Common base class for each of the autotest suites

AP_FLAKE8_CLEAN

'''

from __future__ import annotations

import abc
import copy
import errno
import glob
import io
import math
import os
import pathlib
import re
import shutil
import signal
import sys
import time
import traceback
from datetime import datetime
from typing import List
from typing import Tuple
from typing import Dict
import importlib.util

import pexpect
import fnmatch
import operator
import numpy
import socket
import struct
import random
import tempfile
import threading
import enum
from inspect import currentframe, getframeinfo
from pathlib import Path

from MAVProxy.modules.lib import mp_util
from MAVProxy.modules.lib import mp_elevation

from pymavlink import mavparm
from pymavlink import mavwp, mavutil, DFReader
from pymavlink import mavextra
from pymavlink.rotmat import Vector3
from pymavlink import quaternion
from pymavlink.generator import mavgen

from pysim import util, vehicleinfo

try:
    import queue as Queue
except ImportError:
    import Queue


# Enumeration convenience class for mavlink POSITION_TARGET_TYPEMASK
class MAV_POS_TARGET_TYPE_MASK(enum.IntEnum):
    POS_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE |
                  mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE |
                  mavutil.mavlink.POSITION_TARGET_TYPEMASK_Z_IGNORE)
    VEL_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_VX_IGNORE |
                  mavutil.mavlink.POSITION_TARGET_TYPEMASK_VY_IGNORE |
                  mavutil.mavlink.POSITION_TARGET_TYPEMASK_VZ_IGNORE)
    ACC_IGNORE = (mavutil.mavlink.POSITION_TARGET_TYPEMASK_AX_IGNORE |
                  mavutil.mavlink.POSITION_TARGET_TYPEMASK_AY_IGNORE |
                  mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE)
    FORCE_SET  = mavutil.mavlink.POSITION_TARGET_TYPEMASK_FORCE_SET
    YAW_IGNORE = mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE
    YAW_RATE_IGNORE = mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE
    POS_ONLY   = VEL_IGNORE | ACC_IGNORE | YAW_IGNORE | YAW_RATE_IGNORE
    ALT_ONLY   = (VEL_IGNORE | ACC_IGNORE | YAW_IGNORE | YAW_RATE_IGNORE |
                  mavutil.mavlink.POSITION_TARGET_TYPEMASK_X_IGNORE |
                  mavutil.mavlink.POSITION_TARGET_TYPEMASK_Y_IGNORE)
    IGNORE_ALL = VEL_IGNORE | ACC_IGNORE | YAW_IGNORE | YAW_RATE_IGNORE | POS_IGNORE
    LAST_BYTE  = 0xF000


MAV_FRAMES_TO_TEST = [
    mavutil.mavlink.MAV_FRAME_GLOBAL,
    mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
    mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
    mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
    mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
    mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT
]

# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))

try:
    from itertools import izip as zip
except ImportError:
    # probably python2
    pass


class ErrorException(Exception):
    """Base class for other exceptions"""
    pass


class AutoTestTimeoutException(ErrorException):
    pass


class WaitModeTimeout(AutoTestTimeoutException):
    """Thrown when fails to achieve given mode change."""
    pass


class WaitAltitudeTimout(AutoTestTimeoutException):
    """Thrown when fails to achieve given altitude range."""
    pass


class WaitGroundSpeedTimeout(AutoTestTimeoutException):
    """Thrown when fails to achieve given ground speed range."""
    pass


class WaitRollTimeout(AutoTestTimeoutException):
    """Thrown when fails to achieve given roll in degrees."""
    pass


class WaitPitchTimeout(AutoTestTimeoutException):
    """Thrown when fails to achieve given pitch in degrees."""
    pass


class WaitHeadingTimeout(AutoTestTimeoutException):
    """Thrown when fails to achieve given heading."""
    pass


class WaitDistanceTimeout(AutoTestTimeoutException):
    """Thrown when fails to attain distance"""
    pass


class WaitLocationTimeout(AutoTestTimeoutException):
    """Thrown when fails to attain location"""
    pass


class WaitWaypointTimeout(AutoTestTimeoutException):
    """Thrown when fails to attain waypoint ranges"""
    pass


class SetRCTimeout(AutoTestTimeoutException):
    """Thrown when fails to send RC commands"""
    pass


class MsgRcvTimeoutException(AutoTestTimeoutException):
    """Thrown when fails to receive an expected message"""
    pass


class NotAchievedException(ErrorException):
    """Thrown when fails to achieve a goal"""
    pass


class OldpymavlinkException(ErrorException):
    """Thrown when a new feature is required from pymavlink"""
    pass


class YawSpeedNotAchievedException(NotAchievedException):
    """Thrown when fails to achieve given yaw speed."""
    pass


class SpeedVectorNotAchievedException(NotAchievedException):
    """Thrown when fails to achieve given speed vector."""
    pass


class PreconditionFailedException(ErrorException):
    """Thrown when a precondition for a test is not met"""
    pass


class ArmedAtEndOfTestException(ErrorException):
    """Created when test left vehicle armed"""
    pass


class Context(object):
    def __init__(self):
        self.parameters = []
        self.sitl_commandline_customised = False
        self.reboot_sitl_was_done = False
        self.message_hooks = []
        self.collections = {}
        self.heartbeat_interval_ms = 1000
        self.original_heartbeat_interval_ms = None
        self.installed_scripts = []
        self.installed_modules = []
        self.overridden_message_rates = {}
        self.raising_debug_trap_on_exceptions = False


# https://stackoverflow.com/questions/616645/how-do-i-duplicate-sys-stdout-to-a-log-file-in-python
class TeeBoth(object):
    def __init__(self, name, mode, mavproxy_logfile, suppress_stdout=False):
        self.suppress_stdout = suppress_stdout
        self.file = open(name, mode)
        self.stdout = sys.stdout
        self.stderr = sys.stderr
        self.mavproxy_logfile = mavproxy_logfile
        self.mavproxy_logfile.set_fh(self)
        sys.stdout = self
        sys.stderr = self

    def close(self):
        sys.stdout = self.stdout
        sys.stderr = self.stderr
        self.mavproxy_logfile.set_fh(None)
        self.mavproxy_logfile = None
        self.file.close()
        self.file = None

    def write(self, data):
        if isinstance(data, bytes):
            data = data.decode('ascii')
        self.file.write(data)
        if not self.suppress_stdout:
            self.stdout.write(data)

    def flush(self):
        self.file.flush()


class MAVProxyLogFile(object):
    def __init__(self):
        self.fh = None

    def close(self):
        pass

    def set_fh(self, fh):
        self.fh = fh

    def write(self, data):
        if self.fh is not None:
            self.fh.write(data)
        else:
            sys.stdout.write(data)

    def flush(self):
        if self.fh is not None:
            self.fh.flush()
        else:
            sys.stdout.flush()


class Telem(object):
    def __init__(self, destination_address, progress_function=None, verbose=False):
        self.destination_address = destination_address
        self.progress_function = progress_function
        self.verbose = verbose

        self.buffer = bytes()
        self.connected = False
        self.port = None
        self.progress_log = ""

    def progress(self, message):
        message = "%s: %s" % (self.progress_tag(), message)
        if self.progress_function is not None:
            self.progress_function(message)
            return
        if not self.verbose:
            self.progress_log += message
            return
        print(message)

    def connect(self):
        try:
            self.connected = False
            self.progress("Connecting to (%s:%u)" % self.destination_address)
            if self.port is not None:
                try:
                    self.port.close() # might be reopening
                except Exception:
                    pass
            self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
            self.port.connect(self.destination_address)
            self.port.setblocking(False)
            self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
            self.connected = True
            self.progress("Connected")
        except IOError as e:
            self.progress("Failed to connect: %s" % str(e))
            time.sleep(0.5)
            return False
        return True

    def do_read(self) -> bytes:
        try:
            data = self.port.recv(1024)
        except socket.error as e:
            if e.errno not in [errno.EAGAIN, errno.EWOULDBLOCK]:
                self.progress("Exception: %s" % str(e))
                self.connected = False
            return bytes()
        if len(data) == 0:
            self.progress("EOF")
            self.connected = False
            return bytes()
        # print(f"Read {len(data)=} bytes {type(data)=}")
        return data

    def do_write(self, some_bytes):
        try:
            written = self.port.send(some_bytes)
        except socket.error as e:
            if e.errno in [errno.EAGAIN, errno.EWOULDBLOCK]:
                return 0
            self.progress("Exception: %s" % str(e))
            raise
        if written != len(some_bytes):
            raise ValueError("Short write")

    def update(self):
        if not self.connected:
            if not self.connect():
                return
        return self.update_read()


class IBusMessage(object):
    def checksum_bytes(self, out):
        checksum = 0xFFFF
        for b in iter(out):
            checksum -= b
        return checksum


class IBusResponse(IBusMessage):
    def __init__(self, some_bytes):
        self.len = some_bytes[0]
        checksum = self.checksum_bytes(some_bytes[:self.len-2])
        if checksum >> 8 != some_bytes[self.len-1]:
            raise ValueError("Checksum bad (-1)")
        if checksum & 0xff != some_bytes[self.len-2]:
            raise ValueError("Checksum bad (-2)")
        self.address = some_bytes[1] & 0x0F
        self.handle_payload_bytes(some_bytes[2:self.len-2])


class IBusResponse_DISCOVER(IBusResponse):
    def handle_payload_bytes(self, payload_bytes):
        if len(payload_bytes):
            raise ValueError("Not expecting payload bytes (%u)" %
                             (len(payload_bytes), ))


class IBusResponse_GET_SENSOR_TYPE(IBusResponse):
    def handle_payload_bytes(self, payload_bytes):
        if len(payload_bytes) != 2:
            raise ValueError("Expected 2 payload bytes")
        self.sensor_type = payload_bytes[0]
        self.sensor_length = payload_bytes[1]


class IBusResponse_GET_SENSOR_VALUE(IBusResponse):
    def handle_payload_bytes(self, payload_bytes):
        self.sensor_value = payload_bytes

    def get_sensor_value(self):
        '''returns an integer based off content'''
        ret = 0
        for i in range(len(self.sensor_value)):
            x = self.sensor_value[i]
            ret = ret | (x << (i*8))
        return ret


class IBusRequest(IBusMessage):
    def __init__(self, command, address):
        self.command = command
        self.address = address

    def payload_bytes(self):
        '''most requests don't have a payload'''
        return bytearray()

    def for_wire(self):
        out = bytearray()
        payload_bytes = self.payload_bytes()
        payload_length = len(payload_bytes)
        length = 1 + 1 + payload_length + 2  # len+cmd|adr+payloadlen+cksum
        format_string = '<BB' + ('B' * payload_length)
        out.extend(struct.pack(format_string,
                               length,
                               (self.command << 4) | self.address,
                               *payload_bytes,
                               ))
        checksum = self.checksum_bytes(out)
        out.extend(struct.pack("<BB", checksum & 0xff, checksum >> 8))
        return out


class IBusRequest_DISCOVER(IBusRequest):
    def __init__(self, address):
        super(IBusRequest_DISCOVER, self).__init__(0x08, address)


class IBusRequest_GET_SENSOR_TYPE(IBusRequest):
    def __init__(self, address):
        super(IBusRequest_GET_SENSOR_TYPE, self).__init__(0x09, address)


class IBusRequest_GET_SENSOR_VALUE(IBusRequest):
    def __init__(self, address):
        super(IBusRequest_GET_SENSOR_VALUE, self).__init__(0x0A, address)


class IBus(Telem):
    def __init__(self, destination_address):
        super(IBus, self).__init__(destination_address)

    def progress_tag(self):
        return "IBus"

    def packet_from_buffer(self, buffer):
        t = buffer[1] >> 4
        if t == 0x08:
            return IBusResponse_DISCOVER(buffer)
        if t == 0x09:
            return IBusResponse_GET_SENSOR_TYPE(buffer)
        if t == 0x0A:
            return IBusResponse_GET_SENSOR_VALUE(buffer)
        raise ValueError("Unknown response type (%u)" % t)

    def update_read(self):
        self.buffer += self.do_read()
        while len(self.buffer):
            msglen = self.buffer[0]
            if len(self.buffer) < msglen:
                return
            packet = self.packet_from_buffer(self.buffer[:msglen])
            self.buffer = self.buffer[msglen:]
            return packet


class WaitAndMaintain(object):
    def __init__(self,
                 test_suite,
                 minimum_duration=None,
                 progress_print_interval=1,
                 timeout=30,
                 epsilon=None,
                 comparator=None,
                 fn=None,
                 fn_interval=None,
                 ):
        self.test_suite = test_suite
        self.minimum_duration = minimum_duration
        self.achieving_duration_start = None
        self.timeout = timeout
        self.epsilon = epsilon
        self.last_progress_print = 0
        self.progress_print_interval = progress_print_interval
        self.comparator = comparator
        if self.minimum_duration is not None:
            if self.timeout < self.minimum_duration:
                raise ValueError("timeout less than min duration")

        self.fn = fn
        self.fn_interval = fn_interval
        self.last_fn_run_time = 0

    def run(self):
        self.announce_test_start()

        tstart = self.test_suite.get_sim_time_cached()
        while True:
            now = self.test_suite.get_sim_time_cached()
            current_value = self.get_current_value()
            if now - self.last_progress_print > self.progress_print_interval:
                self.print_progress(now, current_value)
                self.last_progress_print = now

            # check for timeout
            if now - tstart > self.timeout:
                self.print_failure_text(now, current_value)
                raise self.timeoutexception()

            # call supplied function if appropriate:
            if (self.fn is not None and
                    now - self.last_fn_run_time > self.fn_interval):
                self.fn()
                self.last_fn_run_time = now

            # handle the case where we are are achieving our value:
            if self.validate_value(current_value):
                if self.achieving_duration_start is None:
                    self.achieving_duration_start = now
                if (self.minimum_duration is None or
                        now - self.achieving_duration_start > self.minimum_duration):
                    self.announce_success()
                    return True
                continue

            # handle the case where we are not achieving our value:
            self.achieving_duration_start = None

    def progress(self, text):
        self.test_suite.progress(text)

    def announce_test_start(self):
        self.progress(self.announce_start_text())

    def announce_success(self):
        self.progress(self.success_text())

    def print_progress(self, now, value):
        text = self.progress_text(value)
        if self.achieving_duration_start is not None:
            delta = now - self.achieving_duration_start
            text += f" (maintain={delta:.1f}/{self.minimum_duration})"
        self.progress(text)

    def print_failure_text(self, now, value):
        '''optionally print a more detailed error string'''
        pass

    def progress_text(self, value):
        return f"want={self.get_target_value()} got={value}"

    def validate_value(self, value):
        target_value = self.get_target_value()
        if self.comparator is not None:
            return self.comparator(value, target_value)

        if self.epsilon is not None:
            return (abs(value - target_value) <= self.epsilon)

        return value == target_value

    def timeoutexception(self):
        return AutoTestTimeoutException("Failed to attain or maintain value")

    def success_text(self):
        return f"{type(self)} Success"


class WaitAndMaintainLocation(WaitAndMaintain):
    def __init__(self, test_suite, target, accuracy=5, height_accuracy=1, **kwargs):
        super(WaitAndMaintainLocation, self).__init__(test_suite, **kwargs)
        self.target = target
        self.height_accuracy = height_accuracy
        self.accuracy = accuracy

    def announce_start_text(self):
        t = self.target
        if self.height_accuracy is not None:
            return ("Waiting for distance to Location (%.4f, %.4f, %.2f) (h_err<%f, v_err<%.2f " %
                    (t.lat, t.lng, t.alt*0.01, self.accuracy, self.height_accuracy))
        return ("Waiting for distance to Location (%.4f, %.4f) (h_err<%f" %
                (t.lat, t.lng, self.accuracy))

    def get_target_value(self):
        return self.loc

    def get_current_value(self):
        return self.test_suite.mav.location()

    def horizontal_error(self, value):
        return self.test_suite.get_distance(value, self.target)

    def vertical_error(self, value):
        return math.fabs(value.alt*0.01 - self.target.alt*0.01)

    def validate_value(self, value):
        if self.horizontal_error(value) > self.accuracy:
            return False

        if self.height_accuracy is None:
            return True

        if self.vertical_error(value) > self.height_accuracy:
            return False

        return True

    def success_text(self):
        return "Reached location"

    def timeoutexception(self):
        return AutoTestTimeoutException("Failed to attain location")

    def progress_text(self, current_value):
        if self.height_accuracy is not None:
            return (f"Want=({self.target.lat:.7f},{self.target.lng:.7f},{self.target.alt:.2f}) Got=({current_value.lat:.7f},{current_value.lng:.7f},{current_value.alt:.2f}) dist={self.horizontal_error(current_value):.2f} vdist={self.vertical_error(current_value):.2f}")  # noqa

        return (f"Want=({self.target.lat},{self.target.lng}) distance={self.horizontal_error(current_value)}")


class WaitAndMaintainEKFFlags(WaitAndMaintain):
    '''Waits for EKF status flags to include required_flags and have
    error_bits *not* set.'''
    def __init__(self, test_suite, required_flags, error_bits, **kwargs):
        super(WaitAndMaintainEKFFlags, self).__init__(test_suite, **kwargs)
        self.required_flags = required_flags
        self.error_bits = error_bits
        self.last_EKF_STATUS_REPORT = None

    def announce_start_text(self):
        return f"Waiting for EKF value {self.required_flags}"

    def get_current_value(self):
        self.last_EKF_STATUS_REPORT = self.test_suite.assert_receive_message('EKF_STATUS_REPORT', timeout=10)
        return self.last_EKF_STATUS_REPORT.flags

    def validate_value(self, value):
        if value & self.error_bits:
            return False

        if (value & self.required_flags) != self.required_flags:
            return False

        return True

    def success_text(self):
        return "EKF Flags OK"

    def timeoutexception(self):
        self.progress("Last EKF status report:")
        self.progress(self.test_suite.dump_message_verbose(self.last_EKF_STATUS_REPORT))

        return AutoTestTimeoutException(f"Failed to get EKF.flags={self.required_flags}")

    def progress_text(self, current_value):
        error_bits = current_value & self.error_bits
        return (f"Want={self.required_flags} got={current_value} errors={error_bits}")

    def ekf_flags_string(self, bits):
        ret = []
        for i in range(0, 16):
            bit = 1 << i
            try:
                if not bits & bit:
                    continue
                name = mavutil.mavlink.enums["ESTIMATOR_STATUS_FLAGS"][bit].name
                trimmed_name = name.removeprefix("ESTIMATOR_")
                ret.append(trimmed_name)
            except KeyError:
                ret.append(str(bit))
        return "|".join(ret)

    def failure_text(self, now, current_value):
        components = []
        components.append(("want", self.ekf_flags_string(self.required_flags)))

        missing_bits = self.required_flags & ~current_value
        if missing_bits:
            components.append(("missing", self.ekf_flags_string(missing_bits)))

        error_bits = current_value & self.error_bits
        if error_bits:
            components.append(("errors", self.ekf_flags_string(error_bits)))

        return " ".join([f"{n}={v}" for (n, v) in components])

    def print_failure_text(self, now, current_value):
        self.progress(self.failure_text(now, current_value))


class WaitAndMaintainArmed(WaitAndMaintain):
    def get_current_value(self):
        return self.test_suite.armed()

    def get_target_value(self):
        return True

    def announce_start_text(self):
        return "Ensuring vehicle remains armed"


class WaitAndMaintainDisarmed(WaitAndMaintain):
    def get_current_value(self):
        return self.test_suite.armed()

    def get_target_value(self):
        return False

    def announce_start_text(self):
        return "Ensuring vehicle remains disarmed"


class WaitAndMaintainServoChannelValue(WaitAndMaintain):
    def __init__(self, test_suite, channel, value, **kwargs):
        super(WaitAndMaintainServoChannelValue, self).__init__(test_suite, **kwargs)
        self.channel = channel
        self.value = value

    def announce_start_text(self):
        str_operator = ""
        if self.comparator == operator.lt:
            str_operator = "less than "
        elif self.comparator == operator.gt:
            str_operator = "more than "

        return f"Waiting for SERVO_OUTPUT_RAW.servo{self.channel}_value value {str_operator}{self.value}"

    def get_target_value(self):
        return self.value

    def get_current_value(self):
        m = self.test_suite.assert_receive_message('SERVO_OUTPUT_RAW', timeout=10)
        channel_field = "servo%u_raw" % self.channel
        m_value = getattr(m, channel_field, None)
        if m_value is None:
            raise ValueError(f"message ({str(m)}) has no field {channel_field}")

        self.last_SERVO_OUTPUT_RAW = m
        return m_value


class WaitAndMaintainAttitude(WaitAndMaintain):
    def __init__(self, test_suite, desroll=None, despitch=None, **kwargs):
        super().__init__(test_suite, **kwargs)
        self.desroll = desroll
        self.despitch = despitch

        if self.desroll is None and self.despitch is None:
            raise ValueError("despitch or desroll must be supplied")

    def announce_start_text(self):
        conditions = []
        if self.desroll is not None:
            conditions.append(f"roll={self.desroll}")
        if self.despitch is not None:
            conditions.append(f"pitch={self.despitch}")

        return f"Waiting for {' and '.join(conditions)}"

    def get_target_value(self):
        return (self.desroll, self.despitch)

    def get_current_value(self):
        m = self.test_suite.assert_receive_message('ATTITUDE', timeout=10)
        self.last_ATTITUDE = m
        return (math.degrees(m.roll), math.degrees(m.pitch))

    def validate_value(self, value):
        (candidate_roll, candidate_pitch) = value

        if self.desroll is not None:
            roll_error = abs(self.desroll - candidate_roll)
            if roll_error > self.epsilon:
                return False

        if self.despitch is not None:
            pitch_error = abs(self.despitch - candidate_pitch)
            if pitch_error > self.epsilon:
                return False

        return True

    def success_text(self):
        return "Attained attitude"

    def timeoutexception(self):
        return AutoTestTimeoutException("Failed to attain attitude")

    def progress_text(self, current_value):
        (achieved_roll, achieved_pitch) = current_value
        axis_progress = []

        if self.desroll is not None:
            axis_progress.append(f"r={achieved_roll: >8.3f} des-r={self.desroll}")

        if self.despitch is not None:
            axis_progress.append(f"p={achieved_pitch: >8.3f} des-p={self.despitch}")

        return " ".join(axis_progress)


class MSP_Generic(Telem):
    def __init__(self, destination_address):
        super(MSP_Generic, self).__init__(destination_address)

        self.callback = None

        self.STATE_IDLE = "IDLE"
        self.STATE_WANT_HEADER_DOLLARS = "WANT_DOLLARS"
        self.STATE_WANT_HEADER_M = "WANT_M"
        self.STATE_WANT_HEADER_GT = "WANT_GT"
        self.STATE_WANT_DATA_SIZE = "WANT_DATA_SIZE"
        self.STATE_WANT_COMMAND = "WANT_COMMAND"
        self.STATE_WANT_DATA = "WANT_DATA"
        self.STATE_WANT_CHECKSUM = "WANT_CHECKSUM"

        self.state = self.STATE_IDLE

    def progress(self, message):
        print("MSP: %s" % message)

    def set_state(self, state):
        # self.progress("Moving to state (%s)" % state)
        self.state = state

    def init_checksum(self, b):
        self.checksum = 0
        self.add_to_checksum(b)

    def add_to_checksum(self, b):
        self.checksum ^= (b & 0xFF)

    def process_command(self, cmd, data):
        if self.callback is not None:
            self.callback(cmd, data)
        else:
            print("cmd=%s" % str(cmd))

    def update_read(self):
        for byte in self.do_read():
            c = chr(byte)
            # print("Got (0x%02x) (%s) (%s) state=%s" % (byte, chr(byte), str(type(byte)), self.state))
            if self.state == self.STATE_IDLE:
                # reset state
                self.set_state(self.STATE_WANT_HEADER_DOLLARS)
                # deliberate fallthrough right here
            if self.state == self.STATE_WANT_HEADER_DOLLARS:
                if c == '$':
                    self.set_state(self.STATE_WANT_HEADER_M)
                continue
            if self.state == self.STATE_WANT_HEADER_M:
                if c != 'M':
                    raise Exception("Malformed packet")
                self.set_state(self.STATE_WANT_HEADER_GT)
                continue
            if self.state == self.STATE_WANT_HEADER_GT:
                if c != '>':
                    raise Exception("Malformed packet")
                self.set_state(self.STATE_WANT_DATA_SIZE)
                continue
            if self.state == self.STATE_WANT_DATA_SIZE:
                self.data_size = byte
                self.set_state(self.STATE_WANT_COMMAND)
                self.data = bytearray()
                self.checksum = 0
                self.add_to_checksum(byte)
                continue
            if self.state == self.STATE_WANT_COMMAND:
                self.command = byte
                self.add_to_checksum(byte)
                if self.data_size != 0:
                    self.set_state(self.STATE_WANT_DATA)
                else:
                    self.set_state(self.STATE_WANT_CHECKSUM)
                continue
            if self.state == self.STATE_WANT_DATA:
                self.add_to_checksum(byte)
                self.data.append(byte)
                if len(self.data) == self.data_size:
                    self.set_state(self.STATE_WANT_CHECKSUM)
                continue
            if self.state == self.STATE_WANT_CHECKSUM:
                if self.checksum != byte:
                    raise Exception("Checksum fail (want=0x%02x calced=0x%02x" %
                                    (byte, self.checksum))
                self.process_command(self.command, self.data)
                self.set_state(self.STATE_IDLE)


class MSP_DJI(MSP_Generic):
    FRAME_GPS_RAW  = 106
    FRAME_ATTITUDE = 108

    def __init__(self, destination_address):
        super(MSP_DJI, self).__init__(destination_address)
        self.callback = self.command_callback
        self.frames = {}

    class Frame(object):
        def __init__(self, data):
            self.data = data

        def intn(self, offset, count):
            ret = 0
            for i in range(offset, offset+count):
                ret = ret | (ord(self.data[i]) << ((i-offset)*8))
            return ret

        def int32(self, offset):
            t = struct.unpack("<i", self.data[offset:offset+4])
            return t[0]

        def int16(self, offset):
            t = struct.unpack("<h", self.data[offset:offset+2])
            return t[0]

    class FrameATTITUDE(Frame):
        def roll(self):
            '''roll in degrees'''
            return self.int16(0) * 10

        def pitch(self):
            '''pitch in degrees'''
            return self.int16(2) * 10

        def yaw(self):
            '''yaw in degrees'''
            return self.int16(4)

    class FrameGPS_RAW(Frame):
        '''see gps_state_s'''
        def fix_type(self):
            return self.uint8(0)

        def num_sats(self):
            return self.uint8(1)

        def lat(self):
            return self.int32(2) / 1e7

        def lon(self):
            return self.int32(6) / 1e7

        def LocationInt(self):
            # other fields are available, I'm just lazy
            return LocationInt(self.int32(2), self.int32(6), 0, 0)

    def command_callback(self, frametype, data):
        # print("X: %s %s" % (str(frametype), str(data)))
        if frametype == MSP_DJI.FRAME_ATTITUDE:
            frame = MSP_DJI.FrameATTITUDE(data)
        elif frametype == MSP_DJI.FRAME_GPS_RAW:
            frame = MSP_DJI.FrameGPS_RAW(data)
        else:
            return
        self.frames[frametype] = frame

    def get_frame(self, frametype):
        return self.frames[frametype]


class LTM(Telem):
    def __init__(self, destination_address):
        super(LTM, self).__init__(destination_address)

        self.HEADER1 = 0x24
        self.HEADER2 = 0x54

        self.FRAME_G = 0x47
        self.FRAME_A = 0x41
        self.FRAME_S = 0x53

        self.frame_lengths = {
            self.FRAME_G: 18,
            self.FRAME_A: 10,
            self.FRAME_S: 11,
        }
        self.frame_lengths = {
            self.FRAME_G: 18,
            self.FRAME_A: 10,
            self.FRAME_S: 11,
        }

        self.data_by_id = {}
        self.frames = {}

    def g(self):
        return self.frames.get(self.FRAME_G, None)

    def a(self):
        return self.frames.get(self.FRAME_A, None)

    def s(self):
        return self.frames.get(self.FRAME_S, None)

    def progress_tag(self):
        return "LTM"

    def handle_data(self, dataid, value):
        self.progress("%u=%u" % (dataid, value))
        self.data_by_id[dataid] = value

    def consume_frame(self):
        b2 = self.buffer[2]
        frame_type = b2
        frame_length = self.frame_lengths[frame_type]
        # check frame CRC
        crc = 0
        count = 0
        for c in self.buffer[3:frame_length-1]:
            crc ^= c
            count += 1
        buffer_crc = self.buffer[frame_length-1]
        if crc != buffer_crc:
            raise NotAchievedException("Invalid checksum on frame type %s" % str(chr(frame_type)))
#        self.progress("Received valid %s frame" % str(chr(frame_type)))

        class Frame(object):
            def __init__(self, buffer):
                self.buffer = buffer

            def intn(self, offset, count):
                ret = 0
                for i in range(offset, offset+count):
                    ret = ret | (ord(self.buffer[i]) << ((i-offset)*8))
                return ret

            def int32(self, offset):
                t = struct.unpack("<i", self.buffer[offset:offset+4])
                return t[0]
#                return self.intn(offset, 4)

            def int16(self, offset):
                t = struct.unpack("<h", self.buffer[offset:offset+2])
                return t[0]
#                return self.intn(offset, 2)

        class FrameG(Frame):
            def __init__(self, buffer):
                super(FrameG, self,).__init__(buffer)

            def lat(self):
                return self.int32(3)

            def lon(self):
                return self.int32(7)

            def gndspeed(self):
                return self.buffer[11]

            def alt(self):
                return self.int32(12)

            def sats(self):
                s = self.buffer[16]
                return (s >> 2)

            def fix_type(self):
                s = self.buffer[16]
                return s & 0b11

        class FrameA(Frame):
            def __init__(self, buffer):
                super(FrameA, self,).__init__(buffer)

            def pitch(self):
                return self.int16(3)

            def roll(self):
                return self.int16(5)

            def hdg(self):
                return self.int16(7)

        class FrameS(Frame):
            def __init__(self, buffer):
                super(FrameS, self,).__init__(buffer)

        if frame_type == self.FRAME_G:
            frame = FrameG(self.buffer[0:frame_length-1])
        elif frame_type == self.FRAME_A:
            frame = FrameA(self.buffer[0:frame_length-1])
        elif frame_type == self.FRAME_S:
            frame = FrameS(self.buffer[0:frame_length-1])
        else:
            raise NotAchievedException("Bad frame?!?!?!")
        self.buffer = self.buffer[frame_length:]
        self.frames[frame_type] = frame

    def update_read(self):
        self.buffer += self.do_read()
        while len(self.buffer):
            if len(self.buffer) == 0:
                break
            b0 = self.buffer[0]
            if b0 != self.HEADER1:
                self.bad_chars += 1
                self.buffer = self.buffer[1:]
                continue
            b1 = self.buffer[1]
            if b1 != self.HEADER2:
                self.bad_chars += 1
                self.buffer = self.buffer[1:]
                continue
            b2 = self.buffer[2]
            if b2 not in [self.FRAME_G, self.FRAME_A, self.FRAME_S]:
                self.bad_chars += 1
                self.buffer = self.buffer[1:]
                continue
            frame_len = self.frame_lengths[b2]
            if len(self.buffer) < frame_len:
                continue
            self.consume_frame()

    def get_data(self, dataid):
        try:
            return self.data_by_id[dataid]
        except KeyError:
            pass
        return None


class CRSF(Telem):
    def __init__(self, destination_address):
        super(CRSF, self).__init__(destination_address)

        self.dataid_vtx_frame = 0
        self.dataid_vtx_telem = 1
        self.dataid_vtx_unknown = 2

        self.data_id_map = {
            self.dataid_vtx_frame: bytearray([0xC8, 0x8, 0xF, 0xCE, 0x30, 0x8, 0x16, 0xE9, 0x0, 0x5F]),
            self.dataid_vtx_telem: bytearray([0xC8, 0x7, 0x10, 0xCE, 0xE, 0x16, 0x65, 0x0, 0x1B]),
            self.dataid_vtx_unknown: bytearray([0xC8, 0x9, 0x8, 0x0, 0x9E, 0x0, 0x0, 0x0, 0x0, 0x0, 0x95]),
        }

    def write_data_id(self, dataid):
        self.do_write(self.data_id_map[dataid])

    def progress_tag(self):
        return "CRSF"


class DEVO(Telem):
    def __init__(self, destination_address):
        super(DEVO, self).__init__(destination_address)

        self.HEADER = 0xAA
        self.frame_length = 20

        # frame is 'None' until we receive a frame with VALID header and checksum
        self.frame = None
        self.bad_chars = 0

    def progress_tag(self):
        return "DEVO"

    def consume_frame(self):
        # check frame checksum
        checksum = 0
        for c in self.buffer[:self.frame_length-1]:
            checksum += c
        checksum &= 0xff    # since we receive 8 bit checksum
        buffer_checksum = self.buffer[self.frame_length-1]
        if checksum != buffer_checksum:
            raise NotAchievedException("Invalid checksum")

        class FRAME(object):
            def __init__(self, buffer):
                self.buffer = buffer

            def int32(self, offset):
                t = struct.unpack("<i", self.buffer[offset:offset+4])
                return t[0]

            def int16(self, offset):
                t = struct.unpack("<h", self.buffer[offset:offset+2])
                return t[0]

            def lon(self):
                return self.int32(1)

            def lat(self):
                return self.int32(5)

            def alt(self):
                return self.int32(9)

            def speed(self):
                return self.int16(13)

            def temp(self):
                return self.int16(15)

            def volt(self):
                return self.int16(17)

        self.frame = FRAME(self.buffer[0:self.frame_length-1])
        self.buffer = self.buffer[self.frame_length:]

    def update_read(self):
        self.buffer += self.do_read()
        while len(self.buffer):
            if len(self.buffer) == 0:
                break
            b0 = self.buffer[0]
            if b0 != self.HEADER:
                self.bad_chars += 1
                self.buffer = self.buffer[1:]
                continue
            if len(self.buffer) < self.frame_length:
                continue
            self.consume_frame()


class FRSky(Telem):
    def __init__(self, destination_address, verbose=False):
        super(FRSky, self).__init__(destination_address, verbose=verbose)

        self.dataid_GPS_ALT_BP          = 0x01
        self.dataid_TEMP1               = 0x02
        self.dataid_FUEL                = 0x04
        self.dataid_TEMP2               = 0x05
        self.dataid_GPS_ALT_AP          = 0x09
        self.dataid_BARO_ALT_BP         = 0x10
        self.dataid_GPS_SPEED_BP        = 0x11
        self.dataid_GPS_LONG_BP         = 0x12
        self.dataid_GPS_LAT_BP          = 0x13
        self.dataid_GPS_COURS_BP        = 0x14
        self.dataid_GPS_SPEED_AP        = 0x19
        self.dataid_GPS_LONG_AP         = 0x1A
        self.dataid_GPS_LAT_AP          = 0x1B
        self.dataid_BARO_ALT_AP         = 0x21
        self.dataid_GPS_LONG_EW         = 0x22
        self.dataid_GPS_LAT_NS          = 0x23
        self.dataid_CURRENT             = 0x28
        self.dataid_VFAS                = 0x39


class FRSkyD(FRSky):
    def __init__(self, destination_address):
        super(FRSkyD, self).__init__(destination_address)

        self.state_WANT_START_STOP_D = 16,
        self.state_WANT_ID = 17
        self.state_WANT_BYTE1 = 18
        self.state_WANT_BYTE2 = 19

        self.START_STOP_D = 0x5E
        self.BYTESTUFF_D = 0x5D

        self.state = self.state_WANT_START_STOP_D

        self.data_by_id = {}
        self.bad_chars = 0

    def progress_tag(self):
        return "FRSkyD"

    def handle_data(self, dataid, value):
        self.progress("%u=%u" % (dataid, value))
        self.data_by_id[dataid] = value

    def update_read(self):
        self.buffer += self.do_read()
        consume = None
        while len(self.buffer):
            if consume is not None:
                self.buffer = self.buffer[consume:]
            if len(self.buffer) == 0:
                break
            consume = 1
            b = self.buffer[0]
            if self.state == self.state_WANT_START_STOP_D:
                if b != self.START_STOP_D:
                    # we may come into a stream mid-way, so we can't judge
                    self.bad_chars += 1
                    continue
                self.state = self.state_WANT_ID
                continue
            elif self.state == self.state_WANT_ID:
                self.dataid = b
                self.state = self.state_WANT_BYTE1
                continue
            elif self.state in [self.state_WANT_BYTE1, self.state_WANT_BYTE2]:
                if b == 0x5D:
                    # byte-stuffed
                    if len(self.buffer) < 2:
                        # try again in a little while
                        consume = 0
                        return
                    if self.buffer[1] == 0x3E:
                        b = self.START_STOP_D
                    elif self.buffer[1] == 0x3D:
                        b = self.BYTESTUFF_D
                    else:
                        raise ValueError("Unknown stuffed byte")
                    consume = 2
                if self.state == self.state_WANT_BYTE1:
                    self.b1 = b
                    self.state = self.state_WANT_BYTE2
                    continue

                data = self.b1 | b << 8
                self.handle_data(self.dataid, data)
                self.state = self.state_WANT_START_STOP_D

    def get_data(self, dataid):
        try:
            return self.data_by_id[dataid]
        except KeyError:
            pass
        return None


class SPortPacket(object):
    def __init__(self):
        self.START_STOP_SPORT = 0x7E
        self.BYTESTUFF_SPORT  = 0x7D


class SPortUplinkPacket(SPortPacket):
    def __init__(self, appid0, appid1, data0, data1, data2, data3):
        super(SPortUplinkPacket, self).__init__()
        self.appid0 = appid0
        self.appid1 = appid1
        self.data0 = data0
        self.data1 = data1
        self.data2 = data2
        self.data3 = data3
        self.SENSOR_ID_UPLINK_ID         = 0x0D
        self.SPORT_UPLINK_FRAME          = 0x30
        self.uplink_id = self.SENSOR_ID_UPLINK_ID
        self.frame = self.SPORT_UPLINK_FRAME

    def packed(self):
        return struct.pack(
            '<BBBBBBBB',
            self.uplink_id,
            self.frame,
            self.appid0 & 0xff,
            self.appid1 & 0xff,
            self.data0 & 0xff,
            self.data1 & 0xff,
            self.data2 & 0xff,
            self.data3 & 0xff,
        )

    def update_checksum(self, byte):
        self.checksum += byte
        self.checksum += self.checksum >> 8
        self.checksum &= 0xFF

    def checksum(self):
        self.checksum = 0
        self.update_checksum(self.frame & 0xff)
        self.update_checksum(self.appid0 & 0xff)
        self.update_checksum(self.appid1 & 0xff)
        self.update_checksum(self.data0 & 0xff)
        self.update_checksum(self.data1 & 0xff)
        self.update_checksum(self.data2 & 0xff)
        self.update_checksum(self.data3 & 0xff)
        self.checksum = 0xff - ((self.checksum & 0xff) + (self.checksum >> 8))
        return self.checksum & 0xff

    def for_wire(self):
        out = bytearray()
        out.extend(self.packed())
        out.extend(struct.pack('<B', self.checksum()))
        stuffed = bytearray()
        stuffed.extend(struct.pack('<B', self.START_STOP_SPORT))
        for pbyte in out:
            if pbyte in [self.BYTESTUFF_SPORT,
                         self.START_STOP_SPORT]:
                # bytestuff
                stuffed.append(self.BYTESTUFF_SPORT)
                stuffed.append(pbyte ^ self.SPORT_FRAME_XOR)
            else:
                stuffed.append(pbyte)
        return stuffed


class SPortPollPacket(SPortPacket):
    def __init__(self, sensor):
        super(SPortPollPacket, self).__init__()
        self.sensor = sensor

    def for_wire(self):
        return struct.pack(
            '<BB',
            self.START_STOP_SPORT,
            self.sensor & 0xff,
        )


class MAVliteMessage(object):
    def __init__(self, msgid, body):
        self.msgid = msgid
        self.body = body
        self.SENSOR_ID_UPLINK_ID         = 0x0D
        self.SPORT_UPLINK_FRAME          = 0x30

    def checksum_bytes(self, some_bytes):
        checksum = 0
        for b in some_bytes:
            checksum += b
            checksum += checksum >> 8
            checksum &= 0xFF
        return checksum

    def to_sport_packets(self):
        ret = []
        all_bytes = bytearray([len(self.body), self.msgid])
        all_bytes.extend(self.body)

        # insert sequence numbers:
        seq = 0
        sequenced = bytearray()
        while len(all_bytes):
            chunk = all_bytes[0:5]
            all_bytes = all_bytes[5:]
            sequenced.append(seq)
            sequenced.extend(chunk)
            seq += 1

        # we may need another sport packet just for the checksum:
        if len(sequenced) % 6 == 0:
            sequenced.append(seq)
            seq += 1

        checksum = self.checksum_bytes(sequenced)
        sequenced.append(checksum)

        while len(sequenced):
            chunk = sequenced[0:6]
            sequenced = sequenced[6:]
            chunk.extend([0] * (6-len(chunk))) # pad to 6
            packet = SPortUplinkPacket(
                *chunk
            )
            ret.append(packet)
        return ret


class SPortToMAVlite(object):
    def __init__(self):
        self.state_WANT_LEN = "want len"
        self.state_WANT_MSGID = "want msgid"
        self.state_WANT_PAYLOAD = "want payload"
        self.state_WANT_CHECKSUM = "want checksum"
        self.state_MESSAGE_RECEIVED = "message received"

        self.reset()

    def progress(self, message):
        print("SPortToMAVLite: %s" % message)

    def reset(self):
        self.want_seq = 0
        self.all_bytes = bytearray()
        self.payload = bytearray()
        self.state = self.state_WANT_LEN

    def checksum_bytes(self, some_bytes):
        checksum = 0
        for b in some_bytes:
            checksum += b
            checksum += checksum >> 8
            checksum &= 0xFF
        return checksum

    def downlink_handler(self, some_bytes):
        '''adds some_bytes into a mavlite message'''
        if some_bytes[0] == 0x00:
            self.reset()
        if some_bytes[0] != self.want_seq:
            raise NotAchievedException("Unexpected seqno; want=%u got=%u" %
                                       (self.want_seq, some_bytes[0]))
        self.all_bytes.append(some_bytes[0])
        self.want_seq += 1
        for byte in some_bytes[1:]:
            if self.state == self.state_WANT_LEN:
                self.payload_len = byte
                self.all_bytes.append(byte)
                self.state = self.state_WANT_MSGID
                continue
            if self.state == self.state_WANT_MSGID:
                self.msgid = byte
                self.all_bytes.append(byte)
                if self.payload_len == 0:
                    self.state = self.state_WANT_CHECKSUM
                else:
                    self.state = self.state_WANT_PAYLOAD
                continue
            if self.state == self.state_WANT_PAYLOAD:
                self.payload.append(byte)
                self.all_bytes.append(byte)
                if len(self.payload) == self.payload_len:
                    self.state = self.state_WANT_CHECKSUM
                continue
            if self.state == self.state_WANT_CHECKSUM:
                calculated_checksum = self.checksum_bytes(self.all_bytes)
                if calculated_checksum != byte:
                    raise Exception("Checksum failure (calc=%u) (recv=%u)" % (calculated_checksum, byte))
                self.state = self.state_MESSAGE_RECEIVED
                break

    def get_message(self):
        if self.state != self.state_MESSAGE_RECEIVED:
            raise Exception("Wrong state")
        return MAVliteMessage(self.msgid, self.payload)


class FRSkySPort(FRSky):
    def __init__(self, destination_address, verbose=True, get_time=time.time):
        super(FRSkySPort, self).__init__(
            destination_address,
            verbose=verbose
        )

        self.get_time = get_time

        self.state_SEND_POLL = "sendpoll"
        self.state_WANT_FRAME_TYPE = "want_frame_type"
        self.state_WANT_ID1 = "want_id1"
        self.state_WANT_ID2 = "want id2"
        self.state_WANT_DATA = "want data"
        self.state_WANT_CRC = "want crc"

        self.START_STOP_SPORT     = 0x7E
        self.BYTESTUFF_SPORT      = 0x7D
        self.SPORT_DATA_FRAME     = 0x10
        self.SPORT_DOWNLINK_FRAME = 0x32
        self.SPORT_FRAME_XOR      = 0x20

        self.SENSOR_ID_VARIO             = 0x00 # Sensor ID  0
        self.SENSOR_ID_FAS               = 0x22 # Sensor ID  2
        self.SENSOR_ID_GPS               = 0x83 # Sensor ID  3
        self.SENSOR_ID_RPM               = 0xE4 # Sensor ID  4
        self.SENSOR_ID_SP2UR             = 0xC6 # Sensor ID  6
        self.SENSOR_ID_27                = 0x1B # Sensor ID 27

        # MAVlite support:
        self.SENSOR_ID_DOWNLINK1_ID      = 0x34
        self.SENSOR_ID_DOWNLINK2_ID      = 0x67
        self.SENSOR_ID_UPLINK_ID         = 0x0D

        self.state = self.state_WANT_FRAME_TYPE

        self.data_by_id = {}
        self.dataid_counts = {}
        self.bad_chars = 0

        self.poll_sent = 0
        self.sensor_id_poll_counts = {}

        self.id_descriptions = {
            0x5000: "status text (dynamic)",
            0x5006: "Attitude and range (dynamic)",
            0x800: "GPS lat or lon (600 with 1 sensor)",
            0x5005: "Vel and Yaw",
            0x5001: "AP status",
            0x5002: "GPS Status",
            0x5004: "Home",
            0x5008: "Battery 2 status",
            0x5003: "Battery 1 status",
            0x5007: "parameters",
            0x500A: "rpm",
            0x500B: "terrain",
            0x500C: "wind",

            # SPort non-passthrough:
            0x082F: "GALT", # gps altitude integer cm
            0x040F: "TMP1", # Tmp1
            0x060F: "Fuel", # fuel % 0-100
            0x041F: "TMP2", # Tmp2
            0x010F: "ALT",  # baro alt cm
            0x083F: "GSPD", # gps speed integer mm/s
            0x084F: "HDG",  # yaw in cd
            0x020F: "CURR", # current dA
            0x011F: "VSPD", # vertical speed cm/s
            0x021F: "VFAS", # battery 1 voltage cV
            # 0x800: "GPS", ## comments as duplicated dictionary key
            0x050E: "RPM1",

            0x34: "DOWNLINK1_ID",
            0x67: "DOWNLINK2_ID",
            0x0D: "UPLINK_ID",
        }

        self.sensors_to_poll = [
            self.SENSOR_ID_VARIO,
            self.SENSOR_ID_FAS,
            self.SENSOR_ID_GPS,
            self.SENSOR_ID_RPM,
            self.SENSOR_ID_SP2UR,
        ]
        self.next_sensor_id_to_poll = 0 # offset into sensors_to_poll

        self.data_downlink_handler = None

        self.last_poll_sensor = None
        self.last_data_time = None

    def progress_tag(self):
        return "FRSkySPort"

    def handle_data_downlink(self, some_bytes):
        self.progress("DOWNLINK %s" % (str(some_bytes),))
        if self.data_downlink_handler is not None:
            self.data_downlink_handler(some_bytes)
        self.last_data_time = self.get_time()

    def handle_data(self, dataid, value):
        if dataid not in self.id_descriptions:
            raise KeyError("dataid 0x%02x" % dataid)
        self.progress("%s (0x%x)=%u" % (self.id_descriptions[dataid], dataid, value))
        self.data_by_id[dataid] = value
        if dataid not in self.dataid_counts:
            self.dataid_counts[dataid] = 0
        self.dataid_counts[dataid] += 1
        self.last_data_time = self.get_time()

    def dump_dataid_counts_as_progress_messages(self):
        for dataid in self.dataid_counts:
            self.progress("0x%x: %u  (%s)" % (dataid, self.dataid_counts[dataid], self.id_descriptions[dataid]))

    def dump_sensor_id_poll_counts_as_progress_messages(self):
        for sensor_id in self.sensor_id_poll_counts:
            self.progress("(0x%x): %u" % (sensor_id, self.sensor_id_poll_counts[sensor_id]))

    def read_bytestuffed_byte(self):
        b = self.buffer[0]
        if b == 0x7D:
            # byte-stuffed
            if len(self.buffer) < 2:
                self.consume = 0
                return None
            self.consume = 2
            b2 = self.buffer[1]
            if b2 == 0x5E:
                return self.START_STOP_SPORT
            if b2 == 0x5D:
                return self.BYTESTUFF_SPORT
            raise ValueError("Unknown stuffed byte (0x%02x)" % b2)
        return b

    def calc_crc(self, byte):
        self.crc += byte
        self.crc += self.crc >> 8
        self.crc &= 0xFF

    def next_sensor(self):
        ret = self.sensors_to_poll[self.next_sensor_id_to_poll]
        self.next_sensor_id_to_poll += 1
        if self.next_sensor_id_to_poll >= len(self.sensors_to_poll):
            self.next_sensor_id_to_poll = 0
        return ret

    def check_poll(self):
        now = self.get_time()
        # self.progress("check poll (%u)" % now)

        # sometimes ArduPilot will not respond to a poll - for
        # example, if you poll an unhealthy RPM sensor then we will
        # *never* get a response back.  So we must re-poll (which
        # moves onto the next sensor):
        if now - self.poll_sent > 5:
            if self.last_poll_sensor is None:
                self.progress("Re-polling (last poll sensor was None)")
            else:
                msg = ("Re-polling (last_poll_sensor=0x%02x state=%s)" %
                       (self.last_poll_sensor, self.state))
                self.progress(msg)
            if self.state != self.state_WANT_FRAME_TYPE:
                raise ValueError("Expected to be wanting a frame type when repolling (state=%s)" % str(self.state))
            self.state = self.state_SEND_POLL

        if self.state == self.state_SEND_POLL:
            sensor_id = self.next_sensor()
            self.progress("Sending poll for 0x%02x" % sensor_id)
            self.last_poll_sensor = sensor_id
            if sensor_id not in self.sensor_id_poll_counts:
                self.sensor_id_poll_counts[sensor_id] = 0
            self.sensor_id_poll_counts[sensor_id] += 1
            packet = SPortPollPacket(sensor_id)
            self.send_sport_packet(packet)
            self.state = self.state_WANT_FRAME_TYPE
            self.poll_sent = now

    def send_sport_packets(self, packets):
        for packet in packets:
            self.send_sport_packet(packet)

    def send_sport_packet(self, packet):
        stuffed = packet.for_wire()
        self.progress("Sending (%s) (%u)" %
                      (["0x%02x" % x for x in bytearray(stuffed)], len(stuffed)))
        self.port.sendall(stuffed)

    def send_mavlite_param_request_read(self, parameter_name):
        mavlite_msg = MAVliteMessage(
            mavutil.mavlink.MAVLINK_MSG_ID_PARAM_REQUEST_READ,
            bytearray(parameter_name.encode())
        )

        packets = mavlite_msg.to_sport_packets()

        self.send_sport_packets(packets)

    def send_mavlite_param_set(self, parameter_name, value):
        out = bytearray(struct.pack("<f", value))
        out.extend(parameter_name.encode())

        mavlite_msg = MAVliteMessage(
            mavutil.mavlink.MAVLINK_MSG_ID_PARAM_SET,
            out
        )

        packets = mavlite_msg.to_sport_packets()

        self.send_sport_packets(packets)

    def send_mavlite_command_long(
            self,
            command,
            p1=None,
            p2=None,
            p3=None,
            p4=None,
            p5=None,
            p6=None,
            p7=None,
    ):
        params = bytearray()
        seen_none = False
        for p in p1, p2, p3, p4, p5, p6, p7:
            if p is None:
                seen_none = True
                continue
            if seen_none:
                raise ValueError("Can't have values after Nones!")
            params.extend(bytearray(struct.pack("<f", p)))

        out = bytearray(struct.pack("<H", command))  # first two bytes are command-id
        options = len(params) // 4  # low-three-bits is parameter count
        out.extend(bytearray(struct.pack("<B", options)))  # second byte is options
        out.extend(params)  # then the float values

        mavlite_msg = MAVliteMessage(
            mavutil.mavlink.MAVLINK_MSG_ID_COMMAND_LONG,
            out
        )

        packets = mavlite_msg.to_sport_packets()

        self.send_sport_packets(packets)

    def update(self):
        if not self.connected:
            if not self.connect():
                self.progress("Failed to connect")
                return
        self.do_sport_read()
        self.check_poll()

    def do_sport_read(self):
        self.buffer += self.do_read()
        self.consume = None
        while len(self.buffer):
            if self.consume is not None:
                self.buffer = self.buffer[self.consume:]
            if len(self.buffer) == 0:
                break
            self.consume = 1
            b = self.buffer[0]
#            self.progress("Have (%s) bytes state=%s b=0x%02x" % (str(len(self.buffer)), str(self.state), b));
            if self.state == self.state_WANT_FRAME_TYPE:
                if b in [self.SPORT_DATA_FRAME, self.SPORT_DOWNLINK_FRAME]:
                    self.frame = b
                    self.crc = 0
                    self.calc_crc(b)
                    self.state = self.state_WANT_ID1
                    continue
                # we may come into a stream mid-way, so we can't judge
                self.progress("############# Bad char %x" % b)
                raise ValueError("Bad char (0x%02x)" % b)
                self.bad_chars += 1
                continue
            elif self.state == self.state_WANT_ID1:
                self.id1 = self.read_bytestuffed_byte()
                if self.id1 is None:
                    break
                self.calc_crc(self.id1)
                self.state = self.state_WANT_ID2
                continue
            elif self.state == self.state_WANT_ID2:
                self.id2 = self.read_bytestuffed_byte()
                if self.id2 is None:
                    break
                self.calc_crc(self.id2)
                self.state = self.state_WANT_DATA
                self.data_bytes = []
                self.data = 0
                continue
            elif self.state == self.state_WANT_DATA:
                data_byte = self.read_bytestuffed_byte()
                if data_byte is None:
                    break
                self.calc_crc(data_byte)
                self.data = self.data | (data_byte << (8*(len(self.data_bytes))))
                self.data_bytes.append(data_byte)
                if len(self.data_bytes) == 4:
                    self.state = self.state_WANT_CRC
                continue
            elif self.state == self.state_WANT_CRC:
                crc = self.read_bytestuffed_byte()
                if crc is None:
                    break
                self.crc = 0xFF - self.crc
                dataid = (self.id2 << 8) | self.id1
                if self.crc != crc:
                    self.progress("Incorrect frsky checksum (received=%02x calculated=%02x id=0x%x)" % (crc, self.crc, dataid))
#                    raise ValueError("Incorrect frsky checksum (want=%02x got=%02x id=0x%x)" % (crc, self.crc, dataid))
                else:
                    if self.frame == self.SPORT_DOWNLINK_FRAME:
                        self.handle_data_downlink([
                            self.id1,
                            self.id2,
                            self.data_bytes[0],
                            self.data_bytes[1],
                            self.data_bytes[2],
                            self.data_bytes[3]]
                        )
                    else:
                        self.handle_data(dataid, self.data)
                self.state = self.state_SEND_POLL
            elif self.state == self.state_SEND_POLL:
                # this is done in check_poll
                self.progress("in send_poll state")
                pass
            else:
                raise ValueError("Unknown state (%s)" % self.state)

    def get_data(self, dataid):
        try:
            return self.data_by_id[dataid]
        except KeyError:
            pass
        return None


class FRSkyPassThrough(FRSkySPort):
    def __init__(self, destination_address, get_time=time.time):
        super(FRSkyPassThrough, self).__init__(destination_address,
                                               get_time=get_time)

        self.sensors_to_poll = [self.SENSOR_ID_27]

    def progress_tag(self):
        return "FRSkyPassthrough"


class LocationInt(object):
    def __init__(self, lat, lon, alt, yaw):
        self.lat = lat
        self.lon = lon
        self.alt = alt
        self.yaw = yaw


class Test(object):
    '''a test definition - information about a test'''
    def __init__(self, function, kwargs: dict | None = None, attempts=1, speedup=None):
        if kwargs is None:
            kwargs = {}
        self.name = function.__name__
        self.description = function.__doc__
        if self.description is None:
            raise ValueError("%s is missing a docstring" % self.name)
        self.function = function
        self.kwargs = kwargs
        self.attempts = attempts
        self.speedup = speedup


class Result(object):
    '''a test result - pass, fail, exception, runtime, ....'''
    def __init__(self, test):
        self.test = test
        self.reason = None
        self.exception = None
        self.debug_filename = None
        self.time_elapsed = 0.0
        # self.passed = False

    def __str__(self):
        ret = "  %s (%s)" % (self.test.name, self.test.description)
        if self.passed:
            return f"{ret} OK"
        if self.reason is not None:
            ret += f" ({self.reason} )"
        if self.exception is not None:
            ret += f" ({str(self.exception)})"
        if self.debug_filename is not None:
            ret += f" (see {self.debug_filename})"
        if self.time_elapsed is not None:
            ret += f" (duration {self.time_elapsed} s)"
        return ret


class ValgrindFailedResult(Result):
    '''a custom Result to allow passing of Vaglrind failures around'''
    def __init__(self):
        super(ValgrindFailedResult, self).__init__(None)
        self.passed = False

    def __str__(self):
        return "Valgrind error detected"


class TestSuite(abc.ABC):
    """Base abstract class.
    It implements the common function for all vehicle types.
    """
    def __init__(self,
                 binary,
                 valgrind=False,
                 callgrind=False,
                 gdb=False,
                 gdb_no_tui=False,
                 speedup=None,
                 frame=None,
                 params=None,
                 gdbserver=False,
                 lldb=False,
                 strace=False,
                 breakpoints: list | None = None,
                 disable_breakpoints=False,
                 viewerip=None,
                 use_map=False,
                 _show_test_timings=False,
                 logs_dir=None,
                 force_ahrs_type=None,
                 replay=False,
                 sup_binaries: list | None = None,
                 reset_after_every_test=False,
                 force_32bit=False,
                 ubsan=False,
                 ubsan_abort=False,
                 num_aux_imus=0,
                 dronecan_tests=False,
                 generate_junit=False,
                 build_opts: dict | None = None,
                 enable_fgview=False,
                 move_logs_on_test_failure: bool = False,
                 ):
        if breakpoints is None:
            breakpoints = []
        if sup_binaries is None:
            sup_binaries = []
        if build_opts is None:
            build_opts = {}

        self.start_time = time.time()

        if binary is None:
            raise ValueError("Should always have a binary")

        self.binary = binary
        self.valgrind = valgrind
        self.callgrind = callgrind
        self.gdb = gdb
        self.gdb_no_tui = gdb_no_tui
        self.lldb = lldb
        self.strace = strace
        self.frame = frame
        self.params = params
        self.gdbserver = gdbserver
        self.breakpoints = breakpoints
        self.disable_breakpoints = disable_breakpoints
        self.speedup = speedup
        if self.speedup is None:
            self.speedup = self.default_speedup()
        self.sup_binaries = sup_binaries
        self.reset_after_every_test = reset_after_every_test
        self.force_32bit = force_32bit
        self.ubsan = ubsan
        self.ubsan_abort = ubsan_abort
        self.build_opts = build_opts
        self.move_logs_on_test_failure = move_logs_on_test_failure
        self.num_aux_imus = num_aux_imus
        self.generate_junit = generate_junit
        if generate_junit:
            try:
                spec = importlib.util.find_spec("junitparser")
                if spec is None:
                    raise ImportError
            except ImportError as e:
                raise ImportError(f"Junit export need junitparser package.\n {e} \nTry: python3 -m pip install junitparser")

        self.mavproxy = None
        self._mavproxy = None  # for auto-cleanup on failed tests
        self.mav = None
        self.viewerip = viewerip
        self.use_map = use_map
        self.contexts = []
        self.context_push()
        self.buildlog = None
        self.copy_tlog = False
        self.logfile = None
        self.max_set_rc_timeout = 0
        self.last_wp_load = 0
        self.forced_post_test_sitl_reboots = 0
        self.run_tests_called = False
        self._show_test_timings = _show_test_timings
        self.test_timings = dict()
        self.total_waiting_to_arm_time = 0
        self.waiting_to_arm_count = 0
        self.force_ahrs_type = force_ahrs_type
        self.replay = replay
        if self.force_ahrs_type is not None:
            self.force_ahrs_type = int(self.force_ahrs_type)
        self.logs_dir = logs_dir
        self.timesync_number = 137
        self.last_progress_sent_as_statustext = None
        self.last_heartbeat_time_ms = None
        self.last_heartbeat_time_wc_s = 0
        self.in_drain_mav = False
        self.tlog = None
        self.enable_fgview = enable_fgview

        self.rc_thread = None
        self.rc_thread_should_quit = False
        self.rc_queue = Queue.Queue()

        self.expect_list = []

        self.start_mavproxy_count = 0

        self.last_sim_time_cached = 0
        self.last_sim_time_cached_wallclock = 0

        # to autotest we do not want to go to the internet for tiles,
        # usually.  Set this to False to gather tiles from internet in
        # the case there are new tiles required, then add them to the
        # repo and set this back to false:
        # the files will likely be downloaded to ~/.tilecache/SRTM3
        self.terrain_in_offline_mode = True
        self.elevationmodel = mp_elevation.ElevationModel(
            cachedir=util.reltopdir("Tools/autotest/tilecache/srtm"),
            offline=self.terrain_in_offline_mode
        )
        self.terrain_data_messages_sent = 0  # count of messages back
        self.dronecan_tests = dronecan_tests
        self.statustext_id = 1
        self.message_hooks = []  # functions or MessageHook instances

    def __del__(self):
        if self.rc_thread is not None:
            self.progress("Joining RC thread in __del__")
            self.rc_thread_should_quit = True
            self.rc_thread.join()
            self.rc_thread = None

    def default_speedup(self):
        return 8

    def progress(self, text, send_statustext=True):
        """Display autotest progress text."""
        delta_time = time.time() - self.start_time
        formatted_text = "AT-%06.1f: %s" % (delta_time, text)
        print(formatted_text)
        if (send_statustext and
                self.mav is not None and
                self.mav.port is not None and
                self.last_progress_sent_as_statustext != text):
            self.send_statustext(formatted_text)
            self.last_progress_sent_as_statustext = text

    # following two functions swiped from autotest.py:
    @staticmethod
    def buildlogs_dirpath():
        return os.getenv("BUILDLOGS", util.reltopdir("../buildlogs"))

    def sitl_home(self):
        HOME = self.sitl_start_location()
        return "%f,%f,%u,%u" % (HOME.lat,
                                HOME.lng,
                                HOME.alt,
                                HOME.heading)

    def mavproxy_version(self):
        '''return the current version of mavproxy as a tuple e.g. (1,8,8)'''
        return util.MAVProxy_version()

    def mavproxy_version_gt(self, major, minor, point):
        if os.getenv("AUTOTEST_FORCE_MAVPROXY_VERSION", None) is not None:
            return True
        (got_major, got_minor, got_point) = self.mavproxy_version()
        self.progress("Got: %s.%s.%s" % (got_major, got_minor, got_point))
        if got_major > major:
            return True
        elif got_major < major:
            return False
        if got_minor > minor:
            return True
        elif got_minor < minor:
            return False
        return got_point > point

    def open_mavproxy_logfile(self):
        return MAVProxyLogFile()

    def buildlogs_path(self, path):
        """Return a string representing path in the buildlogs directory."""
        bits = [self.buildlogs_dirpath()]
        if isinstance(path, list):
            bits.extend(path)
        else:
            bits.append(path)
        return os.path.join(*bits)

    def sitl_streamrate(self):
        """Allow subclasses to override SITL streamrate."""
        return 10

    def adjust_ardupilot_port(self, port):
        '''adjust port in case we do not wish to use the default range (5760 and 5501 etc)'''
        return port

    def spare_network_port(self, offset=0):
        '''returns a network port which should be able to be bound'''
        if offset > 2:
            raise ValueError("offset too large")
        return 8000 + offset

    def autotest_connection_string_to_ardupilot(self):
        return "tcp:127.0.0.1:%u" % self.adjust_ardupilot_port(5760)

    def sitl_rcin_port(self, offset=0):
        if offset > 2:
            raise ValueError("offset too large")
        return 5501 + offset

    def mavproxy_options(self):
        """Returns options to be passed to MAVProxy."""
        ret = [
            '--streamrate=%u' % self.sitl_streamrate(),
            '--target-system=%u' % self.sysid_thismav(),
            '--target-component=1',
        ]
        if self.viewerip:
            ret.append("--out=%s:14550" % self.viewerip)
        if self.use_map:
            ret.append('--map')

        return ret

    def vehicleinfo_key(self):
        return self.log_name()

    def repeatedly_apply_parameter_filepath(self, filepath):
        if False:
            return self.repeatedly_apply_parameter_filepath_mavproxy(filepath)
        parameters = mavparm.MAVParmDict()
#        correct_parameters = set()
        if not parameters.load(filepath):
            raise ValueError("Param load failed")
        param_dict = {}
        for p in parameters.keys():
            param_dict[p] = parameters[p]
        self.set_parameters(param_dict)

    def repeatedly_apply_parameter_filepath_mavproxy(self, filepath):
        '''keep applying a parameter file until no parameters changed'''
        for i in range(0, 3):
            self.mavproxy.send("param load %s\n" % filepath)
            while True:
                line = self.mavproxy.readline()
                match = re.match(".*Loaded [0-9]+ parameters.*changed ([0-9]+)",
                                 line)
                if match is not None:
                    if int(match.group(1)) == 0:
                        return
                    break
        raise NotAchievedException()

    def apply_defaultfile_parameters(self):
        """Apply parameter file."""
        self.progress("Applying default parameters file")
        # setup test parameters
        if self.params is None:
            self.params = self.model_defaults_filepath(self.frame)
        for x in self.params:
            self.repeatedly_apply_parameter_filepath(x)

    def count_lines_in_filepath(self, filepath):
        return len([i for i in open(filepath)])

    def count_expected_fence_lines_in_filepath(self, filepath):
        count = 0
        is_qgc = False
        for i in open(filepath):
            i = re.sub("#.*", "", i) # trim comments
            if i.isspace():
                # skip empty lines
                continue
            if re.match("QGC", i):
                # skip QGC header line
                is_qgc = True
                continue
            count += 1
        if is_qgc:
            count += 2 # file doesn't include return point + closing point
        return count

    def load_fence_using_mavproxy(self, mavproxy, filename):
        self.set_parameter("FENCE_TOTAL", 0)
        filepath = os.path.join(testdir, self.current_test_name_directory, filename)
        count = self.count_expected_fence_lines_in_filepath(filepath)
        mavproxy.send('fence load %s\n' % filepath)
#        self.mavproxy.expect("Loaded %u (geo-)?fence" % count)
        self.wait_parameter_value("FENCE_TOTAL", count, timeout=20)

    def get_fence_point(self, idx, target_system=1, target_component=1):
        self.mav.mav.fence_fetch_point_send(target_system,
                                            target_component,
                                            idx)
        m = self.assert_receive_message("FENCE_POINT", timeout=2)
        self.progress("m: %s" % str(m))
        if m.idx != idx:
            raise NotAchievedException("Invalid idx returned (want=%u got=%u)" %
                                       (idx, m.seq))
        return m

    def fencepoint_protocol_epsilon(self):
        return 0.00002

    def roundtrip_fencepoint_protocol(self, offset, count, lat, lng, target_system=1, target_component=1):
        self.progress("Sending FENCE_POINT offs=%u count=%u" % (offset, count))
        self.mav.mav.fence_point_send(target_system,
                                      target_component,
                                      offset,
                                      count,
                                      lat,
                                      lng)

        self.progress("Requesting fence point")
        m = self.get_fence_point(offset, target_system=target_system, target_component=target_component)
        if abs(m.lat - lat) > self.fencepoint_protocol_epsilon():
            raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat))
        if abs(m.lng - lng) > self.fencepoint_protocol_epsilon():
            raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng))
        self.progress("Roundtrip OK")

    def roundtrip_fence_using_fencepoint_protocol(self, loc_list, target_system=1, target_component=1, ordering=None):
        count = len(loc_list)
        offset = 0
        self.set_parameter("FENCE_TOTAL", count)
        if ordering is None:
            ordering = range(count)
        elif len(ordering) != len(loc_list):
            raise ValueError("ordering list length mismatch")

        for offset in ordering:
            loc = loc_list[offset]
            self.roundtrip_fencepoint_protocol(offset,
                                               count,
                                               loc.lat,
                                               loc.lng,
                                               target_system,
                                               target_component)

        self.progress("Validating uploaded fence")
        returned_count = self.get_parameter("FENCE_TOTAL")
        if returned_count != count:
            raise NotAchievedException("Returned count mismatch (want=%u got=%u)" %
                                       (count, returned_count))
        for i in range(count):
            self.progress("Requesting fence point")
            m = self.get_fence_point(offset, target_system=target_system, target_component=target_component)
            if abs(m.lat-loc.lat) > self.fencepoint_protocol_epsilon():
                raise NotAchievedException("Returned lat mismatch (want=%f got=%f" %
                                           (loc.lat, m.lat))
            if abs(m.lng-loc.lng) > self.fencepoint_protocol_epsilon():
                raise NotAchievedException("Returned lng mismatch (want=%f got=%f" %
                                           (loc.lng, m.lng))
            if m.count != count:
                raise NotAchievedException("Count mismatch (want=%u got=%u)" %
                                           (count, m.count))

    def load_fence(self, filename):
        filepath = os.path.join(testdir, self.current_test_name_directory, filename)
        if not os.path.exists(filepath):
            filepath = self.generic_mission_filepath_for_filename(filename)
        self.progress("Loading fence from (%s)" % str(filepath))
        locs = []
        for line in open(filepath, 'rb'):
            if len(line) == 0:
                continue
            m = re.match(r"([-\d.]+)\s+([-\d.]+)\s*", line.decode('ascii'))
            if m is None:
                raise ValueError("Did not match (%s)" % line)
            locs.append(mavutil.location(float(m.group(1)), float(m.group(2)), 0, 0))
        if self.is_plane():
            # create return point as the centroid:
            total_lat = 0
            total_lng = 0
            total_cnt = 0
            for loc in locs:
                total_lat += loc.lat
                total_lng += loc.lng
                total_cnt += 1
            locs2 = [mavutil.location(total_lat/total_cnt,
                                      total_lng/total_cnt,
                                      0,
                                      0)]  # return point
            locs2.extend(locs)
            locs2.append(copy.copy(locs2[1]))
            return self.roundtrip_fence_using_fencepoint_protocol(locs2)

        self.upload_fences_from_locations([
            (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, locs),
        ])

    def load_fence_using_mavwp(self, filename):
        filepath = os.path.join(testdir, self.current_test_name_directory, filename)
        if not os.path.exists(filepath):
            filepath = self.generic_mission_filepath_for_filename(filename)
        self.progress("Loading fence from (%s)" % str(filepath))
        items = self.mission_item_protocol_items_from_filepath(mavwp.MissionItemProtocol_Fence, filepath)
        self.check_fence_upload_download(items)

    def send_reboot_command(self):
        self.mav.mav.command_long_send(self.sysid_thismav(),
                                       1,
                                       mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
                                       1,  # confirmation
                                       1, # reboot autopilot
                                       0,
                                       0,
                                       0,
                                       0,
                                       0,
                                       0)

    def reboot_check_valgrind_log(self):
        valgrind_log = util.valgrind_log_filepath(binary=self.binary,
                                                  model=self.frame)
        if os.path.isfile(valgrind_log) and (os.path.getsize(valgrind_log) > 0):
            backup_valgrind_log = ("%s-%s" % (str(int(time.time())), valgrind_log))
            shutil.move(valgrind_log, backup_valgrind_log)

    def run_cmd_reboot(self):
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
            p1=1,  # reboot autopilot
        )

    def run_cmd_enable_high_latency(self, new_state, run_cmd=None):
        if run_cmd is None:
            run_cmd = self.run_cmd
        p1 = 0
        if new_state:
            p1 = 1

        run_cmd(
            mavutil.mavlink.MAV_CMD_CONTROL_HIGH_LATENCY,
            p1=p1, # enable/disable
        )

    def reboot_sitl_mav(self, required_bootcount=None, force=False):
        """Reboot SITL instance using mavlink and wait for it to reconnect."""
        # we must make sure that stats have been reset - otherwise
        # when we reboot we'll reset statistics again and lose our
        # STAT_BOOTCNT increment:
        tstart = time.time()
        while True:
            if time.time() - tstart > 30:
                raise NotAchievedException("STAT_RESET did not go non-zero")
            if self.get_parameter('STAT_RESET', timeout_in_wallclock=True) != 0:
                break

        old_bootcount = self.get_parameter('STAT_BOOTCNT')
        # ardupilot SITL may actually NAK the reboot; replace with
        # run_cmd when we don't do that.
        do_context = False
        if self.valgrind or self.callgrind:
            self.reboot_check_valgrind_log()
            self.progress("Stopping and restarting SITL")
            if getattr(self, 'valgrind_restart_customisations', None) is not None:
                self.customise_SITL_commandline(
                    self.valgrind_restart_customisations,
                    model=self.valgrind_restart_model,
                    defaults_filepath=self.valgrind_restart_defaults_filepath,
                )
            else:
                self.stop_SITL()
                self.start_SITL(wipe=False)
        else:
            # receiving an ACK from the process turns out to be really
            # quite difficult.  So just send it and hope for the best.
            self.progress("Sending reboot command")
            p6 = 0
            if force:
                p6 = 20190226  # magic force-reboot value
            self.send_cmd(
                mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
                p1=1,
                p2=1,
                p6=p6,
            )
            do_context = True
        if do_context:
            self.context_push()

            def hook(mav, m):
                if m.get_type() != 'COMMAND_ACK':
                    return
                if m.command != mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
                    return
                self.progress("While awaiting reboot received (%s)" % str(m))
                if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
                    raise NotAchievedException("Bad reboot ACK detected")
            self.install_message_hook_context(hook)

        self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount)

        if do_context:
            self.context_pop()

    def send_cmd_enter_cpu_lockup(self):
        """Poke ArduPilot to stop the main loop from running"""
        self.mav.mav.command_long_send(self.sysid_thismav(),
                                       1,
                                       mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
                                       1,  # confirmation
                                       42, # lockup autopilot
                                       24, # no, really, we mean it
                                       71, # seriously, we're not kidding
                                       93, # we know exactly what we're
                                       0,
                                       0,
                                       0)

    def reboot_sitl(self,
                    required_bootcount=None,
                    force=False,
                    check_position=True,
                    mark_context=True,
                    startup_location_dist_max=1,
                    ):
        """Reboot SITL instance and wait for it to reconnect."""
        if self.armed() and not force:
            raise NotAchievedException("Reboot attempted while armed")
        self.progress("Rebooting SITL")
        self.reboot_sitl_mav(required_bootcount=required_bootcount, force=force)
        self.do_heartbeats(force=True)
        if check_position and self.frame != 'sailboat':  # sailboats drift with wind!
            self.assert_simstate_location_is_at_startup_location(dist_max=startup_location_dist_max)
        if mark_context:
            self.context_get().reboot_sitl_was_done = True

    def assert_armed(self):
        if not self.armed():
            raise NotAchievedException("Not armed")

    def reboot_sitl_mavproxy(self, required_bootcount=None):
        """Reboot SITL instance using MAVProxy and wait for it to reconnect."""
        old_bootcount = self.get_parameter('STAT_BOOTCNT')
        self.mavproxy.send("reboot\n")
        self.detect_and_handle_reboot(old_bootcount, required_bootcount=required_bootcount)

    def detect_and_handle_reboot(self, old_bootcount, required_bootcount=None, timeout=10):
        tstart = time.time()
        if required_bootcount is None:
            required_bootcount = old_bootcount + 1
        while True:
            if time.time() - tstart > timeout:
                raise AutoTestTimeoutException("Did not detect reboot")
            try:
                current_bootcount = self.get_parameter('STAT_BOOTCNT',
                                                       timeout=1,
                                                       attempts=1,
                                                       verbose=True,
                                                       timeout_in_wallclock=True)
                self.progress("current=%s required=%u" %
                              (str(current_bootcount), required_bootcount))
                if current_bootcount == required_bootcount:
                    break
            except NotAchievedException:
                pass
            except AutoTestTimeoutException:
                pass
            except ConnectionResetError:
                pass
            except socket.error:
                pass
            except Exception as e:
                self.progress("Got unexpected exception (%s)" % str(type(e)))
                pass

        # empty mav to avoid getting old timestamps:
        self.do_timesync_roundtrip(timeout_in_wallclock=True)

        self.progress("Calling initialise-after-reboot")
        self.initialise_after_reboot_sitl()

    def scripting_restart(self):
        '''restart scripting subsystem'''
        self.progress("Restarting Scripting")
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_SCRIPTING,
            p1=mavutil.mavlink.SCRIPTING_CMD_STOP_AND_RESTART,
            timeout=5,
        )

    def set_streamrate(self, streamrate, timeout=20, stream=mavutil.mavlink.MAV_DATA_STREAM_ALL):
        '''set MAV_DATA_STREAM_ALL; timeout is wallclock time'''
        self.do_timesync_roundtrip(timeout_in_wallclock=True)
        tstart = time.time()
        while True:
            if time.time() - tstart > timeout:
                raise NotAchievedException("Failed to set streamrate")
            self.mav.mav.request_data_stream_send(
                1,
                1,
                stream,
                streamrate,
                1)
            m = self.mav.recv_match(type='SYSTEM_TIME',
                                    blocking=True,
                                    timeout=1)
            if m is not None:
                break

    def set_streamrate_mavproxy(self, streamrate, timeout=10):
        tstart = time.time()
        while True:
            if time.time() - tstart > timeout:
                raise AutoTestTimeoutException("stream rate change failed")

            self.mavproxy.send("set streamrate %u\n" % (streamrate))
            self.mavproxy.send("set streamrate\n")
            try:
                self.mavproxy.expect('.*streamrate ((?:-)?[0-9]+)', timeout=1)
            except pexpect.TIMEOUT:
                continue
            rate = self.mavproxy.match.group(1)
#            self.progress("rate: %s" % str(rate))
            if int(rate) == int(streamrate):
                break

        if streamrate <= 0:
            return

        self.progress("Waiting for SYSTEM_TIME for confirmation streams are working")
        self.drain_mav_unparsed()
        timeout = 60
        tstart = time.time()
        while True:
            self.drain_all_pexpects()
            if time.time() - tstart > timeout:
                raise NotAchievedException("Did not get SYSTEM_TIME within %f seconds" % timeout)
            m = self.mav.recv_match(timeout=0.1)
            if m is None:
                continue
#            self.progress("Received (%s)" % str(m))
            if m.get_type() == 'SYSTEM_TIME':
                break
        self.drain_mav()

    def htree_from_xml(self, xml_filepath):
        '''swiped from mavproxy_param.py'''
        xml = open(xml_filepath, 'rb').read()
        from lxml import objectify
        objectify.enable_recursive_str()
        tree = objectify.fromstring(xml)
        htree = {}
        for p in tree.vehicles.parameters.param:
            n = p.get('name').split(':')[1]
            htree[n] = p
        for lib in tree.libraries.parameters:
            for p in lib.param:
                n = p.get('name')
                htree[n] = p
        return htree

    def test_adsb_send_threatening_adsb_message(self, here, offset_ne=None):
        self.progress("Sending ABSD_VEHICLE message")
        new = here
        if offset_ne is not None:
            new = self.offset_location_ne(new, offset_ne[0], offset_ne[1])
        self.mav.mav.adsb_vehicle_send(
            37, # ICAO address
            int(new.lat * 1e7),
            int(new.lng * 1e7),
            mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
            int(here.alt*1000 + 10000), # 10m up
            0, # heading in cdeg
            0, # horizontal velocity cm/s
            0, # vertical velocity cm/s
            "bob".encode("ascii"), # callsign
            mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
            1, # time since last communication
            65535, # flags
            17 # squawk
        )

    def test_parameter_documentation_get_all_parameters(self):

        xml_filepath = os.path.join(self.buildlogs_dirpath(), "apm.pdef.xml")
        param_parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'param_metadata', 'param_parse.py')
        try:
            os.unlink(xml_filepath)
        except OSError:
            pass
        vehicle = self.log_name()
        if vehicle == "HeliCopter":
            vehicle = "ArduCopter"
        if vehicle == "QuadPlane":
            vehicle = "ArduPlane"
        cmd = [param_parse_filepath, '--vehicle', vehicle]
        # cmd.append("--verbose")
        if util.run_cmd(cmd, directory=self.buildlogs_dirpath()) != 0:
            self.progress("Failed param_parse.py (%s)" % vehicle)
            return False
        htree = self.htree_from_xml(xml_filepath)

        target_system = self.sysid_thismav()
        target_component = 1

        self.customise_SITL_commandline([
            "--unhide-groups"
        ])

        (parameters, seq_id) = self.download_parameters(target_system, target_component)

        self.reset_SITL_commandline()

        fail = False
        for param in parameters.keys():
            if param not in htree:
                self.progress("%s not in XML" % param)
                fail = True
        if fail:
            raise NotAchievedException("Downloaded parameters missing in XML")

        # FIXME: this should be doable if we filter out e.g BRD_* and CAN_*?
#        self.progress("Checking no extra parameters present in XML")
#        fail = False
#        for param in htree:
#            if param.startswith("SIM_"):
#                # too many of these to worry about
#                continue
#            if param not in parameters:
#                print("%s not in downloaded parameters but in XML" % param)
#                fail = True
#        if fail:
#            raise NotAchievedException("Extra parameters in XML")

    def find_format_defines(self, lines):
        ret = {}
        for line in lines:
            if isinstance(line, bytes):
                line = line.decode("utf-8")
            m = re.match(r'#define (\w+_(?:LABELS|FMT|UNITS|MULTS))\s+(".*")', line)
            if m is None:
                continue
            (a, b) = (m.group(1), m.group(2))
            if a in ret:
                raise NotAchievedException("Duplicate define for (%s)" % a)
            ret[a] = b
        return ret

    def vehicle_code_dirpath(self):
        '''returns path to vehicle-specific code directory e.g. ~/ardupilot/Rover'''
        dirname = self.log_name()
        if dirname == "QuadPlane":
            dirname = "ArduPlane"
        elif dirname == "HeliCopter":
            dirname = "ArduCopter"
        return os.path.join(self.rootdir(), dirname)

    def find_LogStructureFiles(self):
        '''return list of files named LogStructure.h'''
        ret = []
        for root, _, files in os.walk(self.rootdir()):
            for f in files:
                if f == 'LogStructure.h':
                    ret.append(os.path.join(root, f))
                if f == 'LogStructure_SBP.h':
                    ret.append(os.path.join(root, f))
        return ret

    def all_log_format_ids(self):
        '''parse C++ code to extract definitions of log messages'''
        structure_files = self.find_LogStructureFiles()
        structure_lines = []
        for f in structure_files:
            structure_lines.extend(open(f).readlines())

        defines = self.find_format_defines(structure_lines)

        ids = {}
        message_infos = []
        for f in structure_files:
            self.progress("structure file: %s" % f)
            state_outside = 0
            state_inside = 1
            state = state_outside

            linestate_none = 45
            linestate_within = 46
            linestate = linestate_none
            debug = False
            if f == "/home/pbarker/rc/ardupilot/libraries/AP_HAL_ChibiOS/LogStructure.h":
                debug = True
            for line in open(f).readlines():
                if debug:
                    print("line: %s" % line)
                if isinstance(line, bytes):
                    line = line.decode("utf-8")
                line = re.sub("//.*", "", line) # trim comments
                if re.match(r"\s*$", line):
                    # blank line
                    continue
                if state == state_outside:
                    if ("#define LOG_COMMON_STRUCTURES" in line or
                            re.match("#define LOG_STRUCTURE_FROM_.*", line) or
                            re.match("#define LOG_RTC_MESSAGE.*", line)):
                        if debug:
                            self.progress("Moving inside")
                        state = state_inside
                    continue
                if state == state_inside:
                    if linestate == linestate_none:
                        allowed_list = [
                            'LOG_STRUCTURE_FROM_',
                            'LOG_RTC_MESSAGE',
                        ]

                        allowed = False
                        for a in allowed_list:
                            if a in line:
                                allowed = True
                        if allowed:
                            continue
                        m = re.match(r"\s*{(.*)},\s*", line)
                        if m is not None:
                            # complete line
                            if debug:
                                print("Complete line: %s" % str(line))
                            message_infos.append(m.group(1))
                            continue
                        m = re.match(r"\s*{(.*)\\", line)
                        if m is None:
                            if debug:
                                self.progress("Moving outside")
                            state = state_outside
                            continue
                        partial_line = m.group(1)
                        if debug:
                            self.progress("partial line")
                        linestate = linestate_within
                        continue
                    if linestate == linestate_within:
                        if debug:
                            self.progress("Looking for close-brace")
                        m = re.match("(.*)}", line)
                        if m is None:
                            if debug:
                                self.progress("no close-brace")
                            line = line.rstrip()
                            newline = re.sub(r"\\$", "", line)
                            if newline == line:
                                raise NotAchievedException("Expected backslash at end of line")
                            line = newline
                            line = line.rstrip()
                            # cpp-style string concatenation:
                            if debug:
                                self.progress("more partial line")
                            line = re.sub(r'"\s*"', '', line)
                            partial_line += line
                            continue
                        if debug:
                            self.progress("found close-brace")
                        message_infos.append(partial_line + m.group(1))
                        linestate = linestate_none
                        continue
                    raise NotAchievedException("Bad line (%s)")

            if linestate != linestate_none:
                raise NotAchievedException("Must be linestate-none at end of file")

        # now look in the vehicle-specific logfile:
        filepath = os.path.join(self.vehicle_code_dirpath(), "Log.cpp")
        state_outside = 67
        state_inside = 68
        state = state_outside
        linestate_none = 89
        linestate_within = 90
        linestate = linestate_none
        for line in open(filepath, 'rb').readlines():
            if isinstance(line, bytes):
                line = line.decode("utf-8")
            line = re.sub("//.*", "", line) # trim comments
            if re.match(r"\s*$", line):
                # blank line
                continue
            if state == state_outside:
                if ("const LogStructure" in line or
                        "const struct LogStructure" in line):
                    state = state_inside
                continue
            if state == state_inside:
                if re.match("};", line):
                    state = state_outside
                    break
                if linestate == linestate_none:
                    if "#if HAL_QUADPLANE_ENABLED" in line:
                        continue
                    if "#if FRAME_CONFIG == HELI_FRAME" in line:
                        continue
                    if "#if AC_PRECLAND_ENABLED" in line:
                        continue
                    if "#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED" in line:
                        continue
                    if "#end" in line:
                        continue
                    if "LOG_COMMON_STRUCTURES" in line:
                        continue
                    m = re.match(r"\s*{(.*)},\s*", line)
                    if m is not None:
                        # complete line
                        # print("Complete line: %s" % str(line))
                        message_infos.append(m.group(1))
                        continue
                    m = re.match(r"\s*{(.*)", line)
                    if m is None:
                        raise NotAchievedException("Bad line %s" % line)
                    partial_line = m.group(1)
                    linestate = linestate_within
                    continue
                if linestate == linestate_within:
                    m = re.match("(.*)}", line)
                    if m is None:
                        line = line.rstrip()
                        newline = re.sub(r"\\$", "", line)
                        if newline == line:
                            raise NotAchievedException("Expected backslash at end of line")
                        line = newline
                        line = line.rstrip()
                        # cpp-style string concatenation:
                        line = re.sub(r'"\s*"', '', line)
                        partial_line += line
                        continue
                    message_infos.append(partial_line + m.group(1))
                    linestate = linestate_none
                    continue
                raise NotAchievedException("Bad line (%s)")

        if state == state_inside:
            raise NotAchievedException("Should not be in state_inside at end")

        for message_info in message_infos:
            print("message_info: %s" % str(message_info))
            for define in defines:
                message_info = re.sub(define, defines[define], message_info)
            m = re.match(r'\s*LOG_\w+\s*,\s*(?:sizeof|RLOG_SIZE)\([^)]+\)\s*,\s*"(\w+)"\s*,\s*"(\w+)"\s*,\s*"([\w,]+)"\s*,\s*"([^"]+)"\s*,\s*"([^"]+)"\s*(,\s*(true|false))?\s*$', message_info)  # noqa
            if m is None:
                print("NO MATCH")
                continue
            (name, fmt, labels, units, multipliers) = (m.group(1), m.group(2), m.group(3), m.group(4), m.group(5))
            if name in ids:
                raise NotAchievedException("Already seen a (%s) message" % name)
            ids[name] = {
                "name": name,
                "format": fmt,
                "labels": labels,
                "units": units,
                "multipliers": multipliers,
            }

        # now look for Log_Write(...) messages:
        base_directories = [
            os.path.join(self.rootdir(), 'libraries'),
            self.vehicle_code_dirpath(),
        ]
        log_write_statements = []
        for base_directory in base_directories:
            for root, dirs, files in os.walk(base_directory):
                state_outside = 37
                state_inside = 38
                state = state_outside
                for f in files:
                    if not re.search("[.]cpp$", f):
                        continue
                    filepath = os.path.join(root, f)
                    if "AP_Logger/examples" in filepath:
                        # this is the sample file which contains examples...
                        continue
                    count = 0
                    for line in open(filepath, 'rb').readlines():
                        if isinstance(line, bytes):
                            line = line.decode("utf-8")
                        if state == state_outside:
                            if (re.match(r"\s*AP::logger\(\)[.]Write(?:Streaming)?\(", line) or
                                    re.match(r"\s*logger[.]Write(?:Streaming)?\(", line)):
                                state = state_inside
                                line = re.sub("//.*", "", line) # trim comments
                                log_write_statement = line
                            continue
                        if state == state_inside:
                            line = re.sub("//.*", "", line) # trim comments
                            # cpp-style string concatenation:
                            line = re.sub(r'"\s*"', '', line)
                            log_write_statement += line
                            if re.match(r".*\);", line):
                                log_write_statements.append(log_write_statement)
                                state = state_outside
                        count += 1
                    if state != state_outside:
                        raise NotAchievedException("Expected to be outside at end of file")
#                    print("%s has %u lines" % (f, count))
        # change all whitespace to single space
        log_write_statements = [re.sub(r"\s+", " ", x) for x in log_write_statements]
#        print("Got log-write-statements: %s" % str(log_write_statements))
        results = []
        for log_write_statement in log_write_statements:
            for define in defines:
                log_write_statement = re.sub(define, defines[define], log_write_statement)
            # fair warning: order is important here because of the
            # NKT/XKT special case below....
            my_re = r' logger[.]Write(?:Streaming)?\(\s*"(\w+)"\s*,\s*"([\w,]+)".*\);'
            m = re.match(my_re, log_write_statement)
            if m is None:
                my_re = r' AP::logger\(\)[.]Write(?:Streaming)?\(\s*"(\w+)"\s*,\s*"([\w,]+)".*\);'
                m = re.match(my_re, log_write_statement)
            if m is None:
                raise NotAchievedException("Did not match (%s) with (%s)" % (log_write_statement, str(my_re)))
            else:
                results.append((m.group(1), m.group(2)))

        for result in results:
            (name, labels) = result
            if name in ids:
                raise Exception("Already have id for (%s)" % name)
#            self.progress("Adding Log_Write result (%s)" % name)
            ids[name] = {
                "name": name,
                "labels": labels,
            }

        if len(ids) == 0:
            raise NotAchievedException("Did not get any ids")

        return ids

    def LoggerDocumentation_whitelist(self):
        '''returns a set of messages which we do not want to see
        documentation for'''

        ret = set()

        # messages not expected to be on particular vehicles.  Nothing
        # needs fixing below this point, unless you can come up with a
        # better way to avoid this list!

        # We extract all message that need to be documented from the
        # code, but we don't pay attention to which vehicles will use
        # those messages.  We *do* care about the documented messages
        # for a vehicle as we follow the tree created by the
        # documentation (eg. @Path:
        # ../libraries/AP_LandingGear/AP_LandingGear.cpp).  The lists
        # here have been created to fix this discrepancy.
        vinfo_key = self.vehicleinfo_key()
        if vinfo_key != 'ArduPlane' and vinfo_key != 'ArduCopter' and vinfo_key != 'Helicopter':
            ret.update([
                "ATUN",  # Plane and Copter have ATUN messages
            ])
        if vinfo_key != 'ArduPlane':
            ret.update([
                "TECS",  # only Plane has TECS
                "TEC2",  # only Plane has TECS
                "TEC3",  # only Plane has TECS
                "TEC4",  # only Plane has TECS
                "SOAR",  # only Planes can truly soar
                "SORC",  # soaring is pure magic
                "QBRK",  # quadplane
                "FWDT",  # quadplane
                "VAR",   # variometer only applicable on Plane
            ])
        if vinfo_key != 'ArduCopter' and vinfo_key != "Helicopter":
            ret.update([
                "ARHS",    # autorotation
                "AROT",    # autorotation
                "ARSC",    # autorotation
                "ATDH",    # heli autotune
                "ATNH",    # heli autotune
                "ATSH",    # heli autotune
                "GMB1",    # sologimbal
                "GMB2",    # sologimbal
                "SURF",    # surface-tracking
            ])
        # end not-expected-to-be-fixed block

        return ret

    def LoggerDocumentation(self):
        '''Test Onboard Logging Generation'''
        xml_filepath = os.path.join(self.buildlogs_dirpath(), "LogMessages.xml")
        parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'logger_metadata', 'parse.py')
        try:
            os.unlink(xml_filepath)
        except OSError:
            pass
        vehicle = self.log_name()
        if vehicle == 'BalanceBot':
            # same binary and parameters as Rover
            return
        vehicle_map = {
            "ArduCopter": "Copter",
            "HeliCopter": "Copter",
            "ArduPlane": "Plane",
            "QuadPlane": "Plane",
            "Rover": "Rover",
            "AntennaTracker": "Tracker",
            "ArduSub": "Sub",
        }
        vehicle = vehicle_map[vehicle]

        cmd = [parse_filepath, '--vehicle', vehicle]
#        cmd.append("--verbose")
        if util.run_cmd(cmd, directory=self.buildlogs_dirpath()) != 0:
            self.progress("Failed parse.py (%s)" % vehicle)
            return False
        length = os.path.getsize(xml_filepath)
        min_length = 1024
        if length < min_length:
            raise NotAchievedException("short xml file (%u < %u)" %
                                       (length, min_length))
        self.progress("xml file length is %u" % length)

        from lxml import objectify
        xml = open(xml_filepath, 'rb').read()
        objectify.enable_recursive_str()
        tree = objectify.fromstring(xml)

        whitelist = self.LoggerDocumentation_whitelist()

        docco_ids = {}
        for thing in tree.logformat:
            name = str(thing.get("name"))
            docco_ids[name] = {
                "name": name,
                "labels": [],
            }
            if getattr(thing.fields, 'field', None) is None:
                if name in whitelist:
                    continue
                raise NotAchievedException("no doc fields for %s" % name)
            for field in thing.fields.field:
                # print("field: (%s)" % str(field))
                fieldname = field.get("name")
#                print("Got (%s.%s)" % (name,str(fieldname)))
                docco_ids[name]["labels"].append(fieldname)

        code_ids = self.all_log_format_ids()
        # self.progress("Code ids: (%s)" % str(sorted(code_ids.keys())))
        # self.progress("Docco ids: (%s)" % str(sorted(docco_ids.keys())))

        undocumented = set()
        overdocumented = set()
        for name in sorted(code_ids.keys()):
            if name not in docco_ids:
                if name not in whitelist:
                    undocumented.add(name)
                continue
            if name in whitelist:
                overdocumented.add(name)
            seen_labels = {}
            for label in code_ids[name]["labels"].split(","):
                if label in seen_labels:
                    raise NotAchievedException("%s.%s is duplicate label" %
                                               (name, label))
                seen_labels[label] = True
                if label not in docco_ids[name]["labels"]:
                    msg = ("%s.%s not in documented fields (have (%s))" %
                           (name, label, ",".join(docco_ids[name]["labels"])))
                    if name in whitelist:
                        self.progress(msg)
                        # a lot of our Replay messages have names but
                        # nothing more
                        try:
                            overdocumented.remove(name)
                        except KeyError:
                            pass
                        continue
                    raise NotAchievedException(msg)

        if len(undocumented):
            for name in sorted(undocumented):
                self.progress(f"Undocumented message: {name}")
            raise NotAchievedException("Undocumented messages found")
        if len(overdocumented):
            for name in sorted(overdocumented):
                self.progress(f"Message documented when it shouldn't be: {name}")
            raise NotAchievedException("Overdocumented messages found")

        missing = []
        for name in sorted(docco_ids):
            if name not in code_ids and name not in whitelist:
                missing.append(name)
                continue
            for label in docco_ids[name]["labels"]:
                if label not in code_ids[name]["labels"].split(","):
                    # "name" was found in the XML, so was found in an
                    # @LoggerMessage markup line, but was *NOT* found
                    # in our bodgy parsing of the C++ code (in a
                    # Log_Write call or in the static structures)
                    raise NotAchievedException("documented field %s.%s not found in code" %
                                               (name, label))
        if len(missing) > 0:
            raise NotAchievedException("Documented messages (%s) not in code" % missing)

    def initialise_after_reboot_sitl(self):

        # after reboot stream-rates may be zero.  Request streams.
        self.drain_mav()
        self.wait_heartbeat()
        self.set_streamrate(self.sitl_streamrate())
        self.progress("Reboot complete")

    def customise_SITL_commandline(self,
                                   customisations,
                                   model=None,
                                   defaults_filepath=None,
                                   wipe=False,
                                   set_streamrate_callback=None,
                                   binary=None):
        '''customisations could be "--serial5=sim:nmea" '''
        self.contexts[-1].sitl_commandline_customised = True
        self.mav.close()
        self.stop_SITL()
        self.start_SITL(binary=binary,
                        model=model,
                        defaults_filepath=defaults_filepath,
                        customisations=customisations,
                        wipe=wipe)
        self.mav.do_connect()
        tstart = time.time()
        while True:
            if time.time() - tstart > 30:
                raise NotAchievedException("Failed to customise")
            try:
                m = self.wait_heartbeat(drain_mav=True)
                if m.type == 0:
                    self.progress("Bad heartbeat: %s" % str(m))
                    continue
            except IOError:
                pass
            break
        if set_streamrate_callback is not None:
            set_streamrate_callback()
        else:
            self.set_streamrate(self.sitl_streamrate())

        self.assert_receive_message('RC_CHANNELS', timeout=15)

        # stash our arguments in case we need to preserve them in
        # reboot_sitl with Valgrind active:
        if self.valgrind or self.callgrind:
            self.valgrind_restart_model = model
            self.valgrind_restart_defaults_filepath = defaults_filepath
            self.valgrind_restart_customisations = customisations

    def default_parameter_list(self):
        ret = {
            'LOG_DISARMED': 1,
            # also lower logging rate to reduce log sizes
            'LOG_DARM_RATEMAX': 5,
            'LOG_FILE_RATEMAX': 10,
        }
        if self.force_ahrs_type is not None:
            if self.force_ahrs_type == 2:
                ret["EK2_ENABLE"] = 1
            if self.force_ahrs_type == 3:
                ret["EK3_ENABLE"] = 1
            ret["AHRS_EKF_TYPE"] = self.force_ahrs_type
        if self.num_aux_imus > 0:
            ret["SIM_IMU_COUNT"] = self.num_aux_imus + 3
        if self.replay:
            ret["LOG_REPLAY"] = 1
        return ret

    def apply_default_parameter_list(self):
        self.set_parameters(self.default_parameter_list())

    def apply_default_parameters(self):
        self.apply_defaultfile_parameters()
        self.apply_default_parameter_list()
        self.reboot_sitl()

    def reset_SITL_commandline(self):
        self.progress("Resetting SITL commandline to default")
        self.stop_SITL()
        try:
            del self.valgrind_restart_customisations
        except Exception:
            pass
        self.start_SITL(wipe=True)
        self.set_streamrate(self.sitl_streamrate())
        self.apply_default_parameters()
        self.progress("Reset SITL commandline to default")

    def pause_SITL(self):
        '''temporarily stop the SITL process from running.  Note that
        simulation time will not move forward!'''
        # self.progress("Pausing SITL")
        if sys.platform == 'cygwin':
            # Maintain original behaviour under cygwin as SIGTSTP has not been tested
            self.sitl.kill(signal.SIGSTOP)

        else:
            # SIGTSTP can be ignored by GDB allowing easier debugging rather than having GDB break at every pause
            # EG add:
            # handle SIGTSTP nostop noprint pass
            # handle SIGCONT nostop noprint pass
            self.sitl.kill(signal.SIGTSTP)

    def unpause_SITL(self):
        # self.progress("Unpausing SITL")
        self.sitl.kill(signal.SIGCONT)

    def stop_SITL(self):
        self.progress("Stopping SITL")
        self.expect_list_remove(self.sitl)
        util.pexpect_close(self.sitl)
        self.sitl = None

    def start_test(self, description):
        self.progress("##################################################################################")
        self.progress("########## %s  ##########" % description)
        self.progress("##################################################################################")

    def try_symlink_tlog(self):
        self.buildlog = self.buildlogs_path(self.log_name() + "-test.tlog")
        self.progress("buildlog=%s" % self.buildlog)
        if os.path.exists(self.buildlog):
            os.unlink(self.buildlog)
        try:
            os.link(self.logfile, self.buildlog)
        except OSError as error:
            self.progress("OSError [%d]: %s" % (error.errno, error.strerror))
            self.progress("Problem: Failed to create link: %s => %s, "
                          "will copy tlog manually to target location" %
                          (self.logfile, self.buildlog))
            self.copy_tlog = True

    #################################################
    # GENERAL UTILITIES
    #################################################
    def expect_list_clear(self):
        """clear the expect list."""
        for p in self.expect_list[:]:
            self.expect_list.remove(p)

    def expect_list_extend(self, list_to_add):
        """Extend the expect list."""
        self.expect_list.extend(list_to_add)

    def expect_list_add(self, item):
        """Extend the expect list."""
        self.expect_list.extend([item])

    def expect_list_remove(self, item):
        """Remove item from the expect list."""
        self.expect_list.remove(item)

    def heartbeat_interval_ms(self):
        c = self.context_get()
        if c is None:
            return 1000
        return c.heartbeat_interval_ms

    def set_heartbeat_interval_ms(self, interval_ms):
        c = self.context_get()
        if c is None:
            raise ValueError("No context")
        if c.original_heartbeat_interval_ms is None:
            c.original_heartbeat_interval_ms = c.heartbeat_interval_ms
        c.heartbeat_interval_ms = interval_ms

    def set_heartbeat_rate(self, rate_hz):
        if rate_hz == 0:
            self.set_heartbeat_interval_ms(None)
            return
        self.set_heartbeat_interval_ms(1000.0/rate_hz)

    def do_heartbeats(self, force=False):
        # self.progress("do_heartbeats")
        if self.heartbeat_interval_ms() is None and not force:
            return
        x = self.mav.messages.get("SYSTEM_TIME", None)
        now_wc = time.time()
        if (force or
            x is None or
            self.last_heartbeat_time_ms is None or
            self.last_heartbeat_time_ms < x.time_boot_ms or
            x.time_boot_ms - self.last_heartbeat_time_ms > self.heartbeat_interval_ms() or
                now_wc - self.last_heartbeat_time_wc_s > 1):
            if x is not None:
                self.last_heartbeat_time_ms = x.time_boot_ms
                self.last_heartbeat_time_wc_s = now_wc
                self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
                                            mavutil.mavlink.MAV_AUTOPILOT_INVALID,
                                            0,
                                            0,
                                            0)

    def drain_all_pexpects(self):
        for p in self.expect_list:
            util.pexpect_drain(p)

    def idle_hook(self, mav):
        """Called when waiting for a mavlink message."""
        if self.in_drain_mav:
            return
        self.drain_all_pexpects()

    class MessageHook():
        '''base class for objects that watch the message stream and check for
        validity of fields'''
        def __init__(self, suite):
            self.suite = suite

        def process(self):
            pass

        def progress_prefix(self):
            return ""

        def progress(self, string):
            string = self.progress_prefix() + string
            self.suite.progress(string)

        def hook_removed(self):
            pass

    class FailFastStatusText(MessageHook):
        '''watches STATUSTEXT message; any message matching passed-in
        patterns causes a NotAchievedException to be thrown'''
        def __init__(self, suite, texts, regex: bool = False):
            super(TestSuite.FailFastStatusText, self).__init__(suite)
            if isinstance(texts, str):
                texts = [texts]
            self.texts = texts
            self.regex = regex

        def progress_prefix(self):
            return "FFST: "

        def process(self, mav, m):
            if m.get_type() != 'STATUSTEXT':
                return

            for text in self.texts:
                if self.regex:
                    found = re.match(text, m.text)
                else:
                    found = text.lower() in m.text.lower()
                if found:
                    raise NotAchievedException(f"Fail-fast text found: {m.text}")

    class ValidateIntPositionAgainstSimState(MessageHook):
        '''monitors a message containing a position containing lat/lng in 1e7,
        makes sure it stays close to SIMSTATE'''
        def __init__(self, suite, other_int_message_name, max_allowed_divergence=150):
            super(TestSuite.ValidateIntPositionAgainstSimState, self).__init__(suite)
            self.other_int_message_name = other_int_message_name
            self.max_allowed_divergence = max_allowed_divergence
            self.max_divergence = 0
            self.gpi = None
            self.simstate = None
            self.last_print = 0
            self.min_print_interval = 1  # seconds

        def progress_prefix(self):
            return "VIPASS: "

        def process(self, mav, m):
            if m.get_type() == self.other_int_message_name:
                self.gpi = m
            elif m.get_type() == 'SIMSTATE':
                self.simstate = m
            if self.gpi is None:
                return
            if self.simstate is None:
                return

            divergence = self.suite.get_distance_int(self.gpi, self.simstate)
            if (time.time() - self.last_print > self.min_print_interval or
                    divergence > self.max_divergence):
                self.progress(f"distance(SIMSTATE,{self.other_int_message_name})={divergence:.5f}m")
                self.last_print = time.time()
            if divergence > self.max_divergence:
                self.max_divergence = divergence
            if divergence > self.max_allowed_divergence:
                raise NotAchievedException(
                    "%s diverged from simstate by %fm (max=%fm" %
                    (self.other_int_message_name, divergence, self.max_allowed_divergence,))

        def hook_removed(self):
            self.progress(f"Maximum divergence was {self.max_divergence}m (max={self.max_allowed_divergence}m)")

    class ValidateGlobalPositionIntAgainstSimState(ValidateIntPositionAgainstSimState):
        def __init__(self, suite, **kwargs):
            super(TestSuite.ValidateGlobalPositionIntAgainstSimState, self).__init__(suite, 'GLOBAL_POSITION_INT', **kwargs)

    class ValidateAHRS3AgainstSimState(ValidateIntPositionAgainstSimState):
        def __init__(self, suite, **kwargs):
            super(TestSuite.ValidateAHRS3AgainstSimState, self).__init__(suite, 'AHRS3', **kwargs)

    def message_hook(self, mav, msg):
        """Called as each mavlink msg is received."""
#        print("msg: %s" % str(msg))
        if msg.get_type() == 'STATUSTEXT':
            self.progress("AP: %s" % msg.text, send_statustext=False)

        self.write_msg_to_tlog(msg)

        self.idle_hook(mav)
        self.do_heartbeats()

        for h in self.message_hooks:
            if isinstance(h, TestSuite.MessageHook):
                h.process(mav, msg)
                continue
            # assume it's a function
            h(mav, msg)

    def send_message_hook(self, msg, x):
        self.write_msg_to_tlog(msg)

    def write_msg_to_tlog(self, msg):
        usec = int(time.time() * 1.0e6)
        if self.tlog is None:
            tlog_filename = "autotest-%u.tlog" % usec
            self.tlog = open(tlog_filename, 'wb')

        content = bytearray(struct.pack('>Q', usec) + msg.get_msgbuf())
        self.tlog.write(content)

    def expect_callback(self, e):
        """Called when waiting for a expect pattern."""
        for p in self.expect_list:
            if p == e:
                continue
            util.pexpect_drain(p)
        self.drain_mav(quiet=True)
        self.do_heartbeats()

    def drain_mav_unparsed(self, mav=None, quiet=True, freshen_sim_time=False):
        '''drain all data on mavlink connection mav (defaulting to self.mav).
        It is assumed that this connection is connected to the normal
        simulation.'''
        if mav is None:
            mav = self.mav
        count = 0
        tstart = time.time()
        self.pause_SITL()
        # sometimes we recv() when the process is likely to go away..
        old_autoreconnect = mav.autoreconnect
        mav.autoreconnect = False
        while True:
            try:
                this = mav.recv(1000000)
            except Exception:
                mav.autoreconnect = old_autoreconnect
                self.unpause_SITL()
                raise
            if len(this) == 0:
                break
            count += len(this)
        mav.autoreconnect = old_autoreconnect
        self.unpause_SITL()
        if quiet:
            return
        tdelta = time.time() - tstart
        if tdelta == 0:
            rate = "instantly"
        else:
            rate = "%f/s" % (count/float(tdelta),)
        self.progress("Drained %u bytes from mav (%s).  These were unparsed." % (count, rate), send_statustext=False)
        if freshen_sim_time:
            self.get_sim_time()

    def drain_mav(self, mav=None, unparsed=False, quiet=True):
        '''parse all data available on connection mav (defaulting to
        self.mav).  It is assumed that mav is connected to the normal
        simulation'''
        if unparsed:
            return self.drain_mav_unparsed(quiet=quiet, mav=mav)
        if mav is None:
            mav = self.mav
        self.in_drain_mav = True
        count = 0
        tstart = time.time()
        timeout = 120
        failed_to_drain = False
        self.pause_SITL()
        # sometimes we recv() when the process is likely to go away..
        old_autoreconnect = mav.autoreconnect
        mav.autoreconnect = False
        while True:
            try:
                receive_result = mav.recv_msg()
            except Exception:
                mav.autoreconnect = True
                self.unpause_SITL()
                raise
            if receive_result is None:
                break
            count += 1
            if time.time() - tstart > timeout:
                # ArduPilot can produce messages faster than we can
                # consume them.  Until a better solution is found,
                # just die if that seems to be the case:
                failed_to_drain = True
                quiet = False
        mav.autoreconnect = old_autoreconnect
        self.unpause_SITL()
        if quiet:
            self.in_drain_mav = False
            return
        tdelta = time.time() - tstart
        if tdelta == 0:
            rate = "instantly"
        else:
            rate = "%f/s" % (count/float(tdelta),)

        if not quiet:
            self.progress("Drained %u messages from mav (%s)" % (count, rate), send_statustext=False)

        if failed_to_drain:
            raise NotAchievedException("Did not fully drain MAV within %ss" % timeout)

        self.in_drain_mav = False

    def do_timesync_roundtrip(self, quiet=False, timeout_in_wallclock=False):
        if not quiet:
            self.progress("Doing timesync roundtrip")
        if timeout_in_wallclock:
            tstart = time.time()
        else:
            tstart = self.get_sim_time()
        self.mav.mav.timesync_send(0, self.timesync_number * 1000 + self.mav.source_system)
        while True:
            if timeout_in_wallclock:
                now = time.time()
            else:
                now = self.get_sim_time_cached()
            if now - tstart > 5:
                raise AutoTestTimeoutException("Did not get timesync response")
            m = self.mav.recv_match(type='TIMESYNC', blocking=True, timeout=1)
            if not quiet:
                self.progress("Received: %s" % str(m))
            if m is None:
                continue
            if m.ts1 % 1000 != self.mav.source_system:
                self.progress("this isn't a response to our timesync (%s)" % (m.ts1 % 1000))
                continue
            if m.tc1 == 0:
                # this should also not happen:
                self.progress("this is a timesync request, which we don't answer")
                continue
            if int(m.ts1 / 1000) != self.timesync_number:
                self.progress("this isn't the one we just sent")
                continue
            if m.get_srcSystem() != self.mav.target_system:
                self.progress("response from system other than our target (want=%u got=%u" %
                              (self.mav.target_system, m.get_srcSystem()))
                continue
            # no component check ATM because we send broadcast...
#            if m.get_srcComponent() != self.mav.target_component:
#                self.progress("response from component other than our target (got=%u want=%u)" % (m.get_srcComponent(), self.mav.target_component))  # noqa
#                continue
            if not quiet:
                self.progress("Received TIMESYNC response after %fs" % (now - tstart))
            self.timesync_number += 1
            break

    def log_filepath(self, lognum):
        '''return filepath to lognum (where lognum comes from LOG_ENTRY'''
        log_list = self.log_list()
        return log_list[lognum-1]

    def assert_bytes_equal(self, bytes1, bytes2, maxlen=None):
        tocheck = len(bytes1)
        if maxlen is not None:
            if tocheck > maxlen:
                tocheck = maxlen
        for i in range(0, tocheck):
            if bytes1[i] != bytes2[i]:
                raise NotAchievedException("differ at offset %u" % i)

    def assert_home_position_not_set(self):
        try:
            self.poll_home_position()
        except NotAchievedException:
            return

        # if home.lng != 0: etc

        raise NotAchievedException("Home is set when it shouldn't be")

    def HIGH_LATENCY2(self):
        '''test sending of HIGH_LATENCY2'''

        # set airspeed sensor type to DLVR for air temperature message testing
        if not self.is_plane():
            # Plane does not have enable parameter
            self.set_parameter("ARSPD_ENABLE", 1)
        self.set_parameter("ARSPD_BUS", 2)
        self.set_parameter("ARSPD_TYPE", 7)
        self.reboot_sitl()

        self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, True, True, True, verbose=True, timeout=30)

        # should not be getting HIGH_LATENCY2 by default
        m = self.assert_not_receive_message('HIGH_LATENCY2', timeout=2)
        m = self.poll_message("HIGH_LATENCY2")
        if (m.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) != 0:
            raise NotAchievedException("Expected GPS to be OK")
        self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, True, True, True)
        self.set_parameter("SIM_GPS1_TYPE", 0)
        self.delay_sim_time(10)
        self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, False, False, False)
        m = self.poll_message("HIGH_LATENCY2")
        self.progress(self.dump_message_verbose(m))
        if (m.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) == 0:
            raise NotAchievedException("Expected GPS to be failed")

        self.start_subtest("HIGH_LATENCY2 location")
        self.set_parameter("SIM_GPS1_TYPE", 1)
        self.delay_sim_time(10)
        m = self.poll_message("HIGH_LATENCY2")
        self.progress(self.dump_message_verbose(m))
        loc = mavutil.location(m.latitude, m.longitude, m.altitude, 0)
        dist = self.get_distance_int(loc, self.sim_location_int())

        if dist > 1:
            raise NotAchievedException("Bad location from HIGH_LATENCY2")

        self.start_subtest("HIGH_LATENCY2 Air Temperature")
        m = self.poll_message("HIGH_LATENCY2")
        mavutil.dump_message_verbose(sys.stdout, m)

        if m.temperature_air == -128: # High_Latency2 defaults to INT8_MIN for no temperature available
            raise NotAchievedException("Air Temperature not received from HIGH_LATENCY2")
        self.HIGH_LATENCY2_links()

    def context_set_send_debug_trap_on_exceptions(self, value=True):
        '''send a debug trap to ArduPilot if an ErrorException is raised.'''

        # this is a diagnostic tool, only expected to be used for
        # debugging, never for committed code

        def trace_calls(frame, event, arg):
            if event == 'exception':
                exc_type, exc_value, tb = arg
                if issubclass(exc_type, ErrorException):
                    print(f"[Tracer] Exception raised: {exc_type}")
                    self.send_debug_trap()
            return trace_calls

        context = self.context_get()

        if value:
            if sys.gettrace() is not None:
                raise ValueError("Can't trace, something else already is")
            sys.settrace(trace_calls)
            context.raising_debug_trap_on_exceptions = True
            return

        if not sys.gettrace():
            raise ValueError("Expected to see something tracing")

        context.raising_debug_trap_on_exceptions = False
        sys.settrace(None)

    def context_set_message_rate_hz(self, id, rate_hz, run_cmd=None):
        if run_cmd is None:
            run_cmd = self.run_cmd

        overridden_message_rates = self.context_get().overridden_message_rates

        if id not in overridden_message_rates:
            overridden_message_rates[id] = self.measure_message_rate(id)

        self.set_message_rate_hz(id, rate_hz, run_cmd=run_cmd)

    def HIGH_LATENCY2_links(self):

        self.start_subtest("SerialProtocol_MAVLinkHL links")

        ex = None
        self.context_push()
        mav2 = None
        try:

            self.set_parameter("SERIAL2_PROTOCOL", 43)  # HL)

            self.reboot_sitl()

            mav2 = mavutil.mavlink_connection(
                "tcp:localhost:%u" % self.adjust_ardupilot_port(5763),
                robust_parsing=True,
                source_system=7,
                source_component=7,
            )

            self.start_subsubtest("Don't get HIGH_LATENCY2 by default")
            for mav in self.mav, mav2:
                self.assert_not_receive_message('HIGH_LATENCY2', mav=mav, timeout=10)

            self.start_subsubtest("Get HIGH_LATENCY2 upon link enabled only on HL link")
            for run_cmd in self.run_cmd, self.run_cmd_int:
                self.run_cmd_enable_high_latency(True, run_cmd=run_cmd)
                self.assert_receive_message("HIGH_LATENCY2", mav=mav2, timeout=10)
                self.assert_not_receive_message("HIGH_LATENCY2", mav=self.mav, timeout=10)

                self.start_subsubtest("Not get HIGH_LATENCY2 upon HL disable")
                self.run_cmd_enable_high_latency(False, run_cmd=run_cmd)
                self.delay_sim_time(10)
                self.assert_not_receive_message('HIGH_LATENCY2', mav=self.mav, timeout=10)
                self.drain_mav(mav2)
                self.assert_not_receive_message('HIGH_LATENCY2', mav=mav2, timeout=10)

            self.start_subsubtest("Stream rate adjustments")
            self.run_cmd_enable_high_latency(True)
            self.assert_message_rate_hz("HIGH_LATENCY2", 0.2, ndigits=1, mav=mav2, sample_period=60)
            for test_rate in (1, 0.1, 2):
                self.test_rate(
                    "HIGH_LATENCY2 on enabled link",
                    test_rate,
                    test_rate,
                    mav=mav2,
                    ndigits=1,
                    victim_message="HIGH_LATENCY2",
                    message_rate_sample_period=60,
                )
            self.assert_not_receive_message("HIGH_LATENCY2", mav=self.mav, timeout=10)
            self.run_cmd_enable_high_latency(False)

            self.start_subsubtest("Not get HIGH_LATENCY2 after disabling after playing with rates")
            self.assert_not_receive_message('HIGH_LATENCY2', mav=self.mav, timeout=10)
            self.delay_sim_time(1)
            self.drain_mav(mav2)
            self.assert_not_receive_message('HIGH_LATENCY2', mav=mav2, timeout=10)

            self.start_subsubtest("Enable and disable should not affect non-HL links getting HIGH_LATENCY2")
            self.set_message_rate_hz("HIGH_LATENCY2", 5, mav=self.mav)
            self.assert_message_rate_hz("HIGH_LATENCY2", 5, mav=self.mav)

            self.run_cmd_enable_high_latency(True)
            self.assert_message_rate_hz("HIGH_LATENCY2", 5, mav=self.mav),

            self.run_cmd_enable_high_latency(False)
            self.assert_message_rate_hz("HIGH_LATENCY2", 5, mav=self.mav)
        except Exception as e:
            self.print_exception_caught(e)
            ex = e

        self.context_pop()

        self.reboot_sitl()

        self.set_message_rate_hz("HIGH_LATENCY2", 0)

        if ex is not None:
            raise ex

    def download_full_log_list(self, print_logs=True):
        tstart = self.get_sim_time()
        self.mav.mav.log_request_list_send(self.sysid_thismav(),
                                           1, # target component
                                           0,
                                           0xffff)
        logs = {}
        last_id = None
        num_logs = None
        while True:
            now = self.get_sim_time_cached()
            if now - tstart > 5:
                raise NotAchievedException("Did not download list")
            m = self.mav.recv_match(type='LOG_ENTRY',
                                    blocking=True,
                                    timeout=1)
            if print_logs:
                self.progress("Received (%s)" % str(m))
            if m is None:
                continue
            logs[m.id] = m
            if last_id is None:
                if m.num_logs == 0:
                    # caller to guarantee this works:
                    raise NotAchievedException("num_logs is zero")
                num_logs = m.num_logs
            else:
                if m.id != last_id + 1:
                    raise NotAchievedException("Sequence not increasing")
                if m.num_logs != num_logs:
                    raise NotAchievedException("Number of logs changed")
                if m.time_utc < 1000 and m.id != m.num_logs:
                    raise NotAchievedException("Bad timestamp")
                if m.id != m.last_log_num:
                    if m.size == 0:
                        raise NotAchievedException("Zero-sized log")
            last_id = m.id
            if m.id == m.last_log_num:
                self.progress("Got all logs")
                break

        # ensure we don't get any extras:
        self.assert_not_receiving_message('LOG_ENTRY', timeout=2)

        return logs

    def TestLogDownloadWrap(self):
        """Test log wrapping."""
        if self.is_tracker():
            # tracker starts armed, which is annoying
            return
        self.progress("Ensuring we have contents we care about")
        self.set_parameter("LOG_FILE_DSRMROT", 1)
        self.set_parameter("LOG_DISARMED", 0)
        self.reboot_sitl()
        logspath = Path("logs")

        def create_num_logs(num_logs, logsdir, clear_logsdir=True):
            if clear_logsdir:
                shutil.rmtree(logsdir, ignore_errors=True)
                logsdir.mkdir()
            lastlogfile_path = logsdir / Path("LASTLOG.TXT")
            self.progress(f"Add LASTLOG.TXT file with counter at {num_logs}")
            with open(lastlogfile_path, 'w') as lastlogfile:
                lastlogfile.write(f"{num_logs}\n")
            self.progress(f"Create fakelogs from 1 to {num_logs} on logs directory")
            for ii in range(1, num_logs + 1):
                new_log = logsdir / Path(f"{str(ii).zfill(8)}.BIN")
                with open(new_log, 'w+') as logfile:
                    logfile.write(f"I AM LOG {ii}\n")
                    logfile.write('1' * ii)

        def verify_logs(test_log_num):
            try:
                wrap = False
                offset = 0
                max_logs_num = int(self.get_parameter("LOG_MAX_FILES"))
                if test_log_num > max_logs_num:
                    wrap = True
                    offset = test_log_num - max_logs_num
                    test_log_num = max_logs_num
                logs_dict = self.download_full_log_list(print_logs=False)
                if len(logs_dict) != test_log_num:
                    raise NotAchievedException(
                        f"Didn't get the full log list, expect {test_log_num} got {len(logs_dict)}")
                self.progress("Checking logs size are matching")
                start_log = offset if wrap else 1
                for ii in range(start_log, test_log_num + 1 - offset):
                    log_i = logspath / Path(f"{str(ii + offset).zfill(8)}.BIN")
                    if logs_dict[ii].size != log_i.stat().st_size:
                        logs_dict = self.download_full_log_list(print_logs=False)
                        # sometimes we don't have finish writing the log, so get it again prevent failure
                        if logs_dict[ii].size != log_i.stat().st_size:
                            raise NotAchievedException(
                                f"Log{ii} size mismatch : {logs_dict[ii].size} vs {log_i.stat().st_size}"
                            )
                if wrap:
                    self.progress("Checking wrapped logs size are matching")
                    for ii in range(1, offset):
                        log_i = logspath / Path(f"{str(ii).zfill(8)}.BIN")
                        if logs_dict[test_log_num + 1 - offset + ii].size != log_i.stat().st_size:
                            self.progress(f"{logs_dict[test_log_num + 1 - offset + ii]}")
                            raise NotAchievedException(
                                f"Log{test_log_num + 1 - offset + ii} size mismatch :"
                                f" {logs_dict[test_log_num + 1 - offset + ii].size} vs {log_i.stat().st_size}"
                            )
            except NotAchievedException as e:
                shutil.rmtree(logspath, ignore_errors=True)
                logspath.mkdir()
                with open(logspath / Path("LASTLOG.TXT"), 'w') as lastlogfile:
                    lastlogfile.write("1\n")
                raise e

        def add_and_verify_log(test_log_num):
            self.wait_ready_to_arm()
            self.arm_vehicle()
            self.delay_sim_time(1)
            self.disarm_vehicle()
            self.delay_sim_time(10)
            verify_logs(test_log_num + 1)

        def create_and_verify_logs(test_log_num, clear_logsdir=True):
            self.progress(f"Test {test_log_num} logs")
            create_num_logs(test_log_num, logspath, clear_logsdir)
            self.reboot_sitl()
            verify_logs(test_log_num)
            self.start_subsubtest("Adding one more log")
            add_and_verify_log(test_log_num)

        self.start_subtest("Checking log list match with filesystem info")
        create_and_verify_logs(500)
        create_and_verify_logs(10)
        create_and_verify_logs(1)

        self.start_subtest("Change LOG_MAX_FILES and Checking log list match with filesystem info")
        self.set_parameter("LOG_MAX_FILES", 250)
        create_and_verify_logs(250)
        self.set_parameter("LOG_MAX_FILES", 1)
        create_and_verify_logs(1)

        self.start_subtest("Change LOG_MAX_FILES, don't clear old logs and Checking log list match with filesystem info")
        self.set_parameter("LOG_MAX_FILES", 500)
        create_and_verify_logs(500)
        self.set_parameter("LOG_MAX_FILES", 250)
        create_and_verify_logs(250, clear_logsdir=False)

        # cleanup
        shutil.rmtree(logspath, ignore_errors=True)

    def TestLogDownload(self):
        """Test Onboard Log Download."""
        if self.is_tracker():
            # tracker starts armed, which is annoying
            return
        self.progress("Ensuring we have contents we care about")
        self.set_parameter("LOG_FILE_DSRMROT", 1)
        self.set_parameter("LOG_DISARMED", 0)
        self.reboot_sitl()
        original_log_list = self.log_list()
        for i in range(0, 10):
            self.wait_ready_to_arm()
            self.arm_vehicle()
            self.delay_sim_time(1)
            self.disarm_vehicle()
        new_log_list = self.log_list()
        new_log_count = len(new_log_list) - len(original_log_list)
        if new_log_count != 10:
            raise NotAchievedException("Expected exactly 10 new logs got %u (%s) to (%s)" %
                                       (new_log_count, original_log_list, new_log_list))
        self.progress("Directory contents: %s" % str(new_log_list))

        self.download_full_log_list()
        log_id = 5
        ofs = 6
        count = 2
        self.start_subtest("downloading %u bytes from offset %u from log_id %u" %
                           (count, ofs, log_id))
        self.mav.mav.log_request_data_send(self.sysid_thismav(),
                                           1, # target component
                                           log_id,
                                           ofs,
                                           count)
        m = self.assert_receive_message('LOG_DATA', timeout=2)
        if m.ofs != ofs:
            raise NotAchievedException("Incorrect offset")
        if m.count != count:
            raise NotAchievedException("Did not get correct number of bytes")
        log_filepath = self.log_filepath(log_id)
        self.progress("Checking against log_filepath (%s)" % str(log_filepath))
        with open(log_filepath, "rb") as bob:
            bob.seek(ofs)
            actual_bytes = bob.read(2)
            actual_bytes = bytearray(actual_bytes)
        if m.data[0] != actual_bytes[0]:
            raise NotAchievedException("Bad first byte got=(0x%02x) want=(0x%02x)" %
                                       (m.data[0], actual_bytes[0]))
        if m.data[1] != actual_bytes[1]:
            raise NotAchievedException("Bad second byte")

        log_id = 7
        log_filepath = self.log_filepath(log_id)
        self.start_subtest("Downloading log id %u (%s)" % (log_id, log_filepath))
        with open(log_filepath, "rb") as bob:
            actual_bytes = bytearray(bob.read())

        # get the size first
        self.mav.mav.log_request_list_send(self.sysid_thismav(),
                                           1, # target component
                                           log_id,
                                           log_id)
        log_entry = self.assert_receive_message('LOG_ENTRY', timeout=2, verbose=True)
        if log_entry.size != len(actual_bytes):
            raise NotAchievedException("Incorrect bytecount")
        if log_entry.id != log_id:
            raise NotAchievedException("Incorrect log id received")

        # download the log file in the normal way:
        bytes_to_fetch = 100000
        self.progress("Sending request for %u bytes at offset 0" % (bytes_to_fetch,))
        tstart = self.get_sim_time()
        self.mav.mav.log_request_data_send(
            self.sysid_thismav(),
            1, # target component
            log_id,
            0,
            bytes_to_fetch
        )
        bytes_to_read = bytes_to_fetch
        if log_entry.size < bytes_to_read:
            bytes_to_read = log_entry.size
        data_downloaded = []
        bytes_read = 0
        last_print = 0
        while True:
            if bytes_read >= bytes_to_read:
                break
            if self.get_sim_time_cached() - tstart > 120:
                raise NotAchievedException("Did not download log in good time")
            m = self.assert_receive_message('LOG_DATA', timeout=2)
            if m.ofs != bytes_read:
                raise NotAchievedException("Unexpected offset")
            if m.id != log_id:
                raise NotAchievedException("Unexpected id")
            if m.count == 0:
                raise NotAchievedException("Zero bytes read")
            data_downloaded.extend(m.data[0:m.count])
            bytes_read += m.count
            # self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
            if time.time() - last_print > 10:
                last_print = time.time()
                self.progress("Read %u/%u" % (bytes_read, bytes_to_read))

        self.progress("actual_bytes_len=%u data_downloaded_len=%u" %
                      (len(actual_bytes), len(data_downloaded)))
        self.assert_bytes_equal(actual_bytes, data_downloaded, maxlen=bytes_to_read)

        if False:
            bytes_to_read = log_entry.size
            bytes_read = 0
            data_downloaded = []
            while bytes_read < bytes_to_read:
                bytes_to_fetch = int(random.random() * 100)
                if bytes_to_fetch > 90:
                    bytes_to_fetch = 90
                self.progress("Sending request for %u bytes at offset %u" % (bytes_to_fetch, bytes_read))
                self.mav.mav.log_request_data_send(
                    self.sysid_thismav(),
                    1, # target component
                    log_id,
                    bytes_read,
                    bytes_to_fetch
                )
                m = self.assert_receive_message('LOG_DATA', timeout=2)
                self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
                if m.ofs != bytes_read:
                    raise NotAchievedException("Incorrect offset in reply want=%u got=%u (%s)" % (bytes_read, m.ofs, str(m)))
                stuff = m.data[0:m.count]
                data_downloaded.extend(stuff)
                bytes_read += m.count
                if len(data_downloaded) != bytes_read:
                    raise NotAchievedException("extend fail")

            if len(actual_bytes) != len(data_downloaded):
                raise NotAchievedException("Incorrect length: disk:%u downloaded: %u" %
                                           (len(actual_bytes), len(data_downloaded)))
            self.assert_bytes_equal(actual_bytes, data_downloaded)

        self.start_subtest("Download log backwards")
        bytes_to_read = bytes_to_fetch
        if log_entry.size < bytes_to_read:
            bytes_to_read = log_entry.size
        bytes_read = 0
        backwards_data_downloaded = []
        last_print = 0
        while bytes_read < bytes_to_read:
            bytes_to_fetch = int(random.random() * 99) + 1
            if bytes_to_fetch > 90:
                bytes_to_fetch = 90
            if bytes_to_fetch > bytes_to_read - bytes_read:
                bytes_to_fetch = bytes_to_read - bytes_read
            ofs = bytes_to_read - bytes_read - bytes_to_fetch
            # self.progress("bytes_to_read=%u bytes_read=%u bytes_to_fetch=%u ofs=%d" %
            # (bytes_to_read, bytes_read, bytes_to_fetch, ofs))
            self.mav.mav.log_request_data_send(
                self.sysid_thismav(),
                1, # target component
                log_id,
                ofs,
                bytes_to_fetch
            )
            m = self.assert_receive_message('LOG_DATA', timeout=2)
            if m.count == 0:
                raise NotAchievedException("xZero bytes read (ofs=%u)" % (ofs,))
            if m.count > bytes_to_fetch:
                raise NotAchievedException("Read too many bytes?!")
            stuff = m.data[0:m.count]
            stuff.extend(backwards_data_downloaded)
            backwards_data_downloaded = stuff
            bytes_read += m.count
            # self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
            if time.time() - last_print > 10:
                last_print = time.time()
                self.progress("xRead %u/%u" % (bytes_read, bytes_to_read))

        self.assert_bytes_equal(actual_bytes, backwards_data_downloaded, maxlen=bytes_to_read)
        # if len(actual_bytes) != len(backwards_data_downloaded):
        #     raise NotAchievedException("Size delta: actual=%u vs downloaded=%u" %
        #                                (len(actual_bytes), len(backwards_data_downloaded)))

    def download_log(self, log_id, timeout=360):
        tstart = self.get_sim_time()
        data_downloaded = []
        bytes_read = 0
        last_print = 0
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("Did not download log in good time")
            self.mav.mav.log_request_data_send(
                self.sysid_thismav(),
                1, # target component
                log_id,
                bytes_read,
                90
            )
            m = self.assert_receive_message('LOG_DATA', timeout=2)
            if m.ofs != bytes_read:
                raise NotAchievedException(f"Unexpected offset {bytes_read=} {self.dump_message_verbose(m)}")
            if m.id != log_id:
                raise NotAchievedException(f"Unexpected id {log_id=} {self.dump_message_verbose(m)}")
            data_downloaded.extend(m.data[0:m.count])
            bytes_read += m.count
            if m.count < 90:  # FIXME: constant
                break
            # self.progress("Read %u bytes at offset %u" % (m.count, m.ofs))
            if time.time() - last_print > 10:
                last_print = time.time()
                self.progress(f"{bytes_read=}")
        return data_downloaded

    def TestLogDownloadLogRestart(self):
        '''test logging restarts after log download'''
#        self.delay_sim_time(30)
        self.set_parameters({
            "LOG_FILE_RATEMAX": 1,
        })
        self.reboot_sitl()
        number = self.current_onboard_log_number()
        content = self.download_log(number)
        print(f"Content is of length {len(content)}")
        # current_log_filepath = self.current_onboard_log_filepath()
        self.delay_sim_time(5)
        new_number = self.current_onboard_log_number()
        if number == new_number:
            raise NotAchievedException("Did not start logging again")
        new_content = self.download_log(new_number)
        if len(new_content) == 0:
            raise NotAchievedException(f"Unexpected length {len(new_content)=}")

    #################################################
    # SIM UTILITIES
    #################################################
    def get_sim_time(self, timeout=60, drain_mav=True):
        """Get SITL time in seconds."""
        if drain_mav:
            self.drain_mav()
        tstart = time.time()
        while True:
            self.drain_all_pexpects()
            if time.time() - tstart > timeout:
                raise AutoTestTimeoutException("Did not get SYSTEM_TIME message after %f seconds" % timeout)

            m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True, timeout=0.1)
            if m is None:
                continue
            if m.get_srcSystem() != self.sysid_thismav():
                continue

            return m.time_boot_ms * 1.0e-3

    def get_sim_time_cached(self):
        """Get SITL time in seconds."""
        x = self.mav.messages.get("SYSTEM_TIME", None)
        if x is None:
            raise NotAchievedException("No cached time available (%s)" % (self.mav.sysid,))
        ret = x.time_boot_ms * 1.0e-3
        if ret != self.last_sim_time_cached:
            self.last_sim_time_cached = ret
            self.last_sim_time_cached_wallclock = time.time()
        else:
            timeout = 30
            if self.valgrind:
                timeout *= 10
            if time.time() - self.last_sim_time_cached_wallclock > timeout and not self.gdb:
                raise AutoTestTimeoutException("sim_time_cached is not updating!")
        return ret

    def sim_location(self):
        """Return current simulator location."""
        m = self.assert_receive_message('SIMSTATE')
        return mavutil.location(m.lat*1.0e-7,
                                m.lng*1.0e-7,
                                0,
                                math.degrees(m.yaw))

    def sim_location_int(self):
        """Return current simulator location."""
        m = self.assert_receive_message('SIMSTATE')
        return mavutil.location(m.lat,
                                m.lng,
                                0,
                                math.degrees(m.yaw))

    def save_wp(self, ch=7):
        """Trigger RC Aux to save waypoint."""
        self.set_rc(ch, 1000)
        self.delay_sim_time(1)
        self.set_rc(ch, 2000)
        self.delay_sim_time(1)
        self.set_rc(ch, 1000)
        self.delay_sim_time(1)

    def correct_wp_seq_numbers(self, wps):
        # renumber the items:
        count = 0
        for item in wps:
            item.seq = count
            count += 1

    def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1):
        return self.create_simple_relloc_mission(
            self.home_position_as_mav_location(),
            items_in,
            target_system=target_system,
            target_component=target_component,
        )

    def create_simple_relloc_mission(self, loc, items_in, target_system=1, target_component=1):
        '''takes a list of (type, n, e, alt) items.  Creates a mission in
        absolute frame using alt as relative-to-home and n and e as
        offsets in metres from home'''

        # add a dummy waypoint for home
        items = [(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0)]
        items.extend(items_in)
        seq = 0
        ret = []
        for item in items:
            if not isinstance(item, tuple):
                # hope this is a mission item...
                item.seq = seq
                seq += 1
                ret.append(item)
                continue
            opts = {}
            try:
                (t, n, e, alt, opts) = item
            except ValueError:
                (t, n, e, alt) = item
            lat = 0
            lng = 0
            if n != 0 or e != 0:
                relloc = self.offset_location_ne(loc, n, e)
                lat = relloc.lat
                lng = relloc.lng
            frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
            if not self.ardupilot_stores_frame_for_cmd(t):
                frame = mavutil.mavlink.MAV_FRAME_GLOBAL
            if opts.get('frame', None) is not None:
                frame = opts.get('frame')
            p1 = opts.get('p1', 0)  # should we pass `None` instead?
            ret.append(self.create_MISSION_ITEM_INT(t, seq=seq, frame=frame, p1=p1, x=int(lat*1e7), y=int(lng*1e7), z=alt))
            seq += 1

        return ret

    def upload_simple_relhome_mission(self, items, target_system=1, target_component=1):
        mission = self.create_simple_relhome_mission(
            items,
            target_system=target_system,
            target_component=target_component)
        self.check_mission_upload_download(mission)

    def upload_simple_relloc_mission(self, loc, items, target_system=1, target_component=1):
        mission = self.create_simple_relloc_mission(
            loc,
            items,
            target_system=target_system,
            target_component=target_component)
        self.check_mission_upload_download(mission)

    def start_flying_simple_relhome_mission(self, items):
        '''uploads items, changes mode to auto, waits ready to arm and arms
        vehicle.  If the first item it a takeoff you can expect the
        vehicle to fly after this method returns.  On Copter AUTO_OPTIONS
        should be 3.
        '''

        self.upload_simple_relhome_mission(items)
        self.set_current_waypoint(0, check_afterwards=False)

        self.change_mode('AUTO')
        self.wait_ready_to_arm()

        self.arm_vehicle()
        # copter gets stuck in auto; if you run a mission to
        # completion then the mission state machine ends up in a
        # "done" state and you can't restart by just setting an
        # earlier waypoint:
        self.send_cmd(mavutil.mavlink.MAV_CMD_MISSION_START)

    def fly_simple_relhome_mission(self, items):
        '''uploads items, changes mode to auto, waits ready to arm and arms
        vehicle.  Then waits for the vehicle to disarm.
        '''
        self.start_flying_simple_relhome_mission(items)
        self.wait_disarmed()

    def get_mission_count(self):
        return self.get_parameter("MIS_TOTAL")

    def run_auxfunc(self,
                    function,
                    level,
                    run_cmd=None,
                    want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
        if run_cmd is None:
            run_cmd = self.run_cmd
        run_cmd(
            mavutil.mavlink.MAV_CMD_DO_AUX_FUNCTION,
            p1=function,
            p2=level,
            want_result=want_result,
        )

    def assert_mission_count(self, expected):
        count = self.get_mission_count()
        if count != expected:
            raise NotAchievedException("Unexpected count got=%u want=%u" %
                                       (count, expected))

    def clear_wp(self, ch=8):
        """Trigger RC Aux to clear waypoint."""
        self.progress("Clearing waypoints")
        self.set_rc(ch, 1000)
        self.delay_sim_time(0.5)
        self.set_rc(ch, 2000)
        self.delay_sim_time(0.5)
        self.set_rc(ch, 1000)
        self.assert_mission_count(0)

    def log_list(self):
        '''return a list of log files present in POSIX-style logging dir'''
        ret = sorted(glob.glob("logs/00*.BIN"))
        self.progress("log list: %s" % str(ret))
        return ret

    def assert_parameter_values(self, parameters, epsilon=None):
        names = parameters.keys()
        got = self.get_parameters(names)
        for name in names:
            equal = got[name] == parameters[name]
            if epsilon is not None:
                delta = abs(got[name] - parameters[name])
                equal = delta <= epsilon
            if not equal:
                raise NotAchievedException("parameter %s want=%f got=%f" %
                                           (name, parameters[name], got[name]))
            self.progress("%s has expected value %f" % (name, got[name]))

    def assert_parameter_value(self, parameter, required, **kwargs):
        self.assert_parameter_values({
            parameter: required,
        }, **kwargs)

    def assert_reach_imu_temperature(self, target, timeout):
        '''wait to reach a target temperature'''
        tstart = self.get_sim_time()
        temp_ok = False
        last_print_temp = -100
        while self.get_sim_time_cached() - tstart < timeout:
            m = self.assert_receive_message('RAW_IMU', timeout=2)
            temperature = m.temperature*0.01
            if temperature >= target:
                self.progress("Reached temperature %.1f" % temperature)
                temp_ok = True
                break
            if temperature - last_print_temp > 1:
                self.progress("temperature %.1f" % temperature)
                last_print_temp = temperature

        if not temp_ok:
            raise NotAchievedException("target temperature")

    def message_has_field_values_field_values_equal(self, fieldname, value, got, epsilon=None):
        if isinstance(value, float):
            if math.isnan(value) or math.isnan(got):
                return math.isnan(value) and math.isnan(got)

        if type(value) is not str and epsilon is not None:
            return abs(got - value) <= epsilon

        return got == value

    def message_has_field_values(self, m, fieldvalues, verbose=True, epsilon=None):
        for (fieldname, value) in fieldvalues.items():
            if "[" in fieldname: # fieldname == "arrayname[index]"
                assert fieldname[-1] == "]", fieldname
                arrayname, index = fieldname.split("[", 1)
                index = int(index[:-1])
                got = getattr(m, arrayname)[index]
            else:
                got = getattr(m, fieldname)

            value_string = value
            got_string = got
            enum_name = m.fieldenums_by_name.get(fieldname, None)
            if enum_name is not None:
                enum = mavutil.mavlink.enums[enum_name]
                if getattr(enum, "bitmask", None):
                    value_strings = []
                    value_copy = value
                    shift_value = 1
                    while value_copy != 0:
                        if value_copy & 0x1:
                            value_strings.append(enum[shift_value].name)
                        else:
                            value_strings.append("!" + enum[shift_value].name)
                        shift_value += 1
                        value_copy = value_copy >> 1
                    value_string = f"{value_string} {'|'.join(value_strings)}"
                elif enum_name != 'AIRSPEED_SENSOR_FLAGS':
                    # once the ".bitmask" attribute on enumerations
                    # becomes uniquitous the check the
                    # AIRSPEED_SENSOR_FLAGS can be removed.
                    if value not in enum:
                        raise ValueError(f"Expected value {value} not in enum {enum}")
                    if got not in enum:
                        raise ValueError(f"Received value {got} not in enum {enum}")
                    value_string = f"{value} ({enum[value].name})"
                    got_string = f"{got} ({enum[got].name})"

            if not self.message_has_field_values_field_values_equal(
                    fieldname, value, got, epsilon=epsilon
            ):
                # see if this is an enumerated field:
                self.progress(self.dump_message_verbose(m))
                self.progress("Expected %s.%s to be %s, got %s" %
                              (m.get_type(), fieldname, value_string, got_string))
                return False
            if verbose:
                self.progress("%s.%s has expected value %s" %
                              (m.get_type(), fieldname, value_string))
        return True

    def assert_message_field_values(self, m, fieldvalues, verbose=True, epsilon=None):
        if self.message_has_field_values(m, fieldvalues, verbose=verbose, epsilon=epsilon):
            return
        raise NotAchievedException("Did not get expected field values")

    def assert_cached_message_field_values(self, message, fieldvalues, verbose=True, very_verbose=False, epsilon=None):
        '''checks the most-recently received instance of message to ensure it
        has the correct field values'''
        m = self.get_cached_message(message)
        self.assert_message_field_values(m, fieldvalues, verbose=verbose, epsilon=epsilon)
        return m

    def assert_received_message_field_values(self,
                                             message,
                                             fieldvalues,
                                             verbose=True,
                                             very_verbose=False,
                                             epsilon=None,
                                             poll=False,
                                             timeout=None,
                                             check_context=False,
                                             ):
        if poll:
            self.poll_message(message)
        m = self.assert_receive_message(
            message,
            verbose=verbose,
            very_verbose=very_verbose,
            timeout=timeout,
            check_context=check_context
        )
        self.assert_message_field_values(m, fieldvalues, verbose=verbose, epsilon=epsilon)
        return m

    # FIXME: try to use wait_and_maintain here?
    def wait_message_field_values(self,
                                  message,
                                  fieldvalues,
                                  timeout=10,
                                  epsilon=None,
                                  instance=None,
                                  minimum_duration=None,
                                  verbose=False,
                                  very_verbose=False,
                                  ):

        tstart = self.get_sim_time_cached()
        pass_start = None
        last_debug = 0
        while True:
            now = self.get_sim_time_cached()
            if now - tstart > timeout:
                raise NotAchievedException("Field never reached values")
            m = self.assert_receive_message(
                message,
                instance=instance,
                verbose=verbose,
                very_verbose=very_verbose,
            )
            if self.message_has_field_values(m, fieldvalues, epsilon=epsilon, verbose=verbose):
                if minimum_duration is not None:
                    if pass_start is None:
                        pass_start = now
                        continue
                    delta = now - pass_start
                    if now - last_debug >= 1:
                        last_debug = now
                        self.progress(f"Good field values ({delta:.2f}s/{minimum_duration}s)")
                    if delta < minimum_duration:
                        continue
                else:
                    self.progress("Reached field values")
                return m
            pass_start = None

    def onboard_logging_not_log_disarmed(self):
        self.start_subtest("Test LOG_DISARMED-is-false behaviour")
        self.set_parameter("LOG_DISARMED", 0)
        self.set_parameter("LOG_FILE_DSRMROT", 0)
        self.reboot_sitl()
        self.wait_ready_to_arm() # let things setttle
        self.start_subtest("Ensure setting LOG_DISARMED yields a new file")
        original_list = self.log_list()
        self.progress("original list: %s" % str(original_list))
        self.set_parameter("LOG_DISARMED", 1)
        self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
        new_list = self.log_list()
        self.progress("new list: %s" % str(new_list))
        if len(new_list) - len(original_list) != 1:
            raise NotAchievedException("Got more than one new log")
        self.set_parameter("LOG_DISARMED", 0)
        self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
        new_list = self.log_list()
        if len(new_list) - len(original_list) != 1:
            raise NotAchievedException("Got more or less than one new log after toggling LOG_DISARMED off")

        self.start_subtest("Ensuring toggling LOG_DISARMED on and off doesn't increase the number of files")
        self.set_parameter("LOG_DISARMED", 1)
        self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
        new_new_list = self.log_list()
        if len(new_new_list) != len(new_list):
            raise NotAchievedException("Got extra files when toggling LOG_DISARMED")
        self.set_parameter("LOG_DISARMED", 0)
        self.delay_sim_time(1) # LOG_DISARMED is polled by the logger code
        new_new_list = self.log_list()
        if len(new_new_list) != len(new_list):
            raise NotAchievedException("Got extra files when toggling LOG_DISARMED to 0 again")
        self.end_subtest("Ensuring toggling LOG_DISARMED on and off doesn't increase the number of files")

        self.start_subtest("Check disarm rot when log disarmed is zero")
        self.assert_parameter_value("LOG_DISARMED", 0)
        self.set_parameter("LOG_FILE_DSRMROT", 1)
        old_speedup = self.get_parameter("SIM_SPEEDUP")
        # reduce speedup to reduce chance of race condition here
        self.set_parameter("SIM_SPEEDUP", 1)
        pre_armed_list = self.log_list()
        if self.is_copter() or self.is_heli():
            self.set_parameter("DISARM_DELAY", 0)
        self.arm_vehicle()
        post_armed_list = self.log_list()
        if len(post_armed_list) != len(pre_armed_list):
            raise NotAchievedException("Got unexpected new log")
        self.disarm_vehicle()
        old_speedup = self.set_parameter("SIM_SPEEDUP", old_speedup)
        post_disarmed_list = self.log_list()
        if len(post_disarmed_list) != len(post_armed_list):
            raise NotAchievedException("Log rotated immediately")
        self.progress("Allowing time for post-disarm-logging to occur if it will")
        self.delay_sim_time(5)
        post_disarmed_post_delay_list = self.log_list()
        if len(post_disarmed_post_delay_list) != len(post_disarmed_list):
            raise NotAchievedException("Got log rotation when we shouldn't have")
        self.progress("Checking that arming does produce a new log")
        self.arm_vehicle()
        post_armed_list = self.log_list()
        if len(post_armed_list) - len(post_disarmed_post_delay_list) != 1:
            raise NotAchievedException("Did not get new log for rotation")
        self.progress("Now checking natural rotation after HAL_LOGGER_ARM_PERSIST")
        self.disarm_vehicle()
        post_disarmed_list = self.log_list()
        if len(post_disarmed_list) != len(post_armed_list):
            raise NotAchievedException("Log rotated immediately")
        self.delay_sim_time(30)
        delayed_post_disarmed_list = self.log_list()
        # should *still* not get another log as LOG_DISARMED is false
        if len(post_disarmed_list) != len(delayed_post_disarmed_list):
            self.progress("Unexpected new log found")

    def onboard_logging_log_disarmed(self):
        self.start_subtest("Test LOG_DISARMED-is-true behaviour")
        start_list = self.log_list()
        self.set_parameter("LOG_FILE_DSRMROT", 0)
        self.set_parameter("LOG_DISARMED", 0)
        self.reboot_sitl()
        restart_list = self.log_list()
        if len(start_list) != len(restart_list):
            raise NotAchievedException(
                "Unexpected log detected (pre-delay) initial=(%s) restart=(%s)" %
                (str(sorted(start_list)), str(sorted(restart_list))))
        self.delay_sim_time(20)
        restart_list = self.log_list()
        if len(start_list) != len(restart_list):
            raise NotAchievedException("Unexpected log detected (post-delay)")
        self.set_parameter("LOG_DISARMED", 1)
        self.delay_sim_time(5) # LOG_DISARMED is polled
        post_log_disarmed_set_list = self.log_list()
        if len(post_log_disarmed_set_list) == len(restart_list):
            raise NotAchievedException("Did not get new log when LOG_DISARMED set")
        self.progress("Ensuring we get a new log after a reboot")
        self.reboot_sitl()
        self.delay_sim_time(5)
        post_reboot_log_list = self.log_list()
        if len(post_reboot_log_list) == len(post_log_disarmed_set_list):
            raise NotAchievedException("Did not get fresh log-disarmed log after a reboot")
        self.progress("Ensuring no log rotation when we toggle LOG_DISARMED off then on again")
        self.set_parameter("LOG_DISARMED", 0)
        current_log_filepath = self.current_onboard_log_filepath()
        self.delay_sim_time(10) # LOG_DISARMED is polled
        post_toggleoff_list = self.log_list()
        if len(post_toggleoff_list) != len(post_reboot_log_list):
            raise NotAchievedException("Shouldn't get new file yet")
        self.progress("Ensuring log does not grow when LOG_DISARMED unset...")
        current_log_filepath_size = os.path.getsize(current_log_filepath)
        self.delay_sim_time(5)
        current_log_filepath_new_size = os.path.getsize(current_log_filepath)
        if current_log_filepath_new_size != current_log_filepath_size:
            raise NotAchievedException(
                "File growing after LOG_DISARMED unset (new=%u old=%u" %
                (current_log_filepath_new_size, current_log_filepath_size))
        self.progress("Turning LOG_DISARMED back on again")
        self.set_parameter("LOG_DISARMED", 1)
        self.delay_sim_time(5) # LOG_DISARMED is polled
        post_toggleon_list = self.log_list()
        if len(post_toggleon_list) != len(post_toggleoff_list):
            raise NotAchievedException("Log rotated when it shouldn't")
        self.progress("Checking log is now growing again")
        if os.path.getsize(current_log_filepath) == current_log_filepath_size:
            raise NotAchievedException("Log is not growing")

        # self.progress("Checking LOG_FILE_DSRMROT behaviour when log_DISARMED set")
        # self.set_parameter("LOG_FILE_DSRMROT", 1)
        # self.wait_ready_to_arm()
        # pre = self.log_list()
        # self.arm_vehicle()
        # post = self.log_list()
        # if len(pre) != len(post):
        #     raise NotAchievedException("Rotation happened on arming?!")
        # size_a = os.path.getsize(current_log_filepath)
        # self.delay_sim_time(5)
        # size_b = os.path.getsize(current_log_filepath)
        # if size_b <= size_a:
        #     raise NotAchievedException("Log not growing")
        # self.disarm_vehicle()
        # instant_post_disarm_list = self.log_list()
        # self.progress("Should not rotate straight away")
        # if len(instant_post_disarm_list) != len(post):
        #     raise NotAchievedException("Should not rotate straight away")
        # self.delay_sim_time(20)
        # post_disarm_list = self.log_list()
        # if len(post_disarm_list) - len(instant_post_disarm_list) != 1:
        #     raise NotAchievedException("Did not get exactly one more log")

        # self.progress("If we re-arm during the HAL_LOGGER_ARM_PERSIST period it should rotate")

    def onboard_logging_forced_arm(self):
        '''ensure a bug where we didn't start logging when arming was forced
        does not reappear'''
        self.start_subtest("Ensure we get a log when force-arming")
        self.set_parameter("LOG_DISARMED", 0)
        self.reboot_sitl()  # so we'll definitely start a log on arming
        pre_arming_list = self.log_list()
        self.wait_ready_to_arm()
        self.arm_vehicle(force=True)
        # we might be relying on a thread to actually create the log
        # file when doing forced-arming; give the file time to appear:
        self.delay_sim_time(10)
        post_arming_list = self.log_list()
        self.disarm_vehicle()
        if len(post_arming_list) <= len(pre_arming_list):
            raise NotAchievedException("Did not get a log on forced arm")

    def Logging(self):
        '''Test Onboard Logging'''
        if self.is_tracker():
            return
        self.onboard_logging_forced_arm()
        self.onboard_logging_log_disarmed()
        self.onboard_logging_not_log_disarmed()

    def LoggingFormatSanityChecks(self, path):
        dfreader = self.dfreader_for_path(path)
        first_message = dfreader.recv_match()
        if first_message.get_type() != 'FMT':
            raise NotAchievedException("Expected first message to be a FMT message")
        if first_message.Name != 'FMT':
            raise NotAchievedException("Expected first message to be the FMT FMT message")

        self.progress("Ensuring DCM format is received")  # it's a WriteStreaming message...
        while True:
            m = dfreader.recv_match(type='FMT')
            if m is None:
                raise NotAchievedException("Did not find DCM format")
            if m.Name != 'DCM':
                continue
            self.progress("Found DCM format")
            break

        self.progress("No message should appear before its format")
        dfreader.rewind()
        seen_formats = set()
        while True:
            m = dfreader.recv_match()
            if m is None:
                break
            m_type = m.get_type()
            if m_type == 'FMT':
                seen_formats.add(m.Name)
                continue
            if m_type not in seen_formats:
                raise ValueError(f"{m_type} seen before its format")
        #  print(f"{m_type} OK")

    def LoggingFormat(self):
        '''ensure formats are emitted appropriately'''

        self.context_push()
        self.set_parameter('LOG_FILE_DSRMROT', 1)
        self.wait_ready_to_arm()
        for i in range(3):
            self.arm_vehicle()
            self.delay_sim_time(5)
            path = self.current_onboard_log_filepath()
            self.disarm_vehicle()
            self.LoggingFormatSanityChecks(path)
        self.context_pop()

        self.context_push()
        for i in range(3):
            self.set_parameter("LOG_DISARMED", 1)
            self.reboot_sitl()
            self.delay_sim_time(5)
            path = self.current_onboard_log_filepath()
            self.set_parameter("LOG_DISARMED", 0)
            self.LoggingFormatSanityChecks(path)
        self.context_pop()

    def TestLogDownloadMAVProxy(self, upload_logs=False):
        """Download latest log."""
        filename = "MAVProxy-downloaded-log.BIN"
        mavproxy = self.start_mavproxy()
        self.mavproxy_load_module(mavproxy, 'log')
        self.set_parameter('SIM_SPEEDUP', 1)
        mavproxy.send("log list\n")
        mavproxy.expect("numLogs")
        self.wait_heartbeat()
        self.wait_heartbeat()
        mavproxy.send("set shownoise 0\n")
        mavproxy.send("log download latest %s\n" % filename)
        mavproxy.expect("Finished downloading", timeout=120)
        self.mavproxy_unload_module(mavproxy, 'log')
        self.stop_mavproxy(mavproxy)

    def TestLogDownloadMAVProxyNetwork(self, upload_logs=False):
        """Download latest log over network port"""
        self.context_push()
        self.set_parameters({
            "NET_ENABLE": 1,
            "LOG_DISARMED": 0,
            "LOG_DARM_RATEMAX": 1, # make small logs
            # UDP client
            "NET_P1_TYPE": 1,
            "NET_P1_PROTOCOL": 2,
            "NET_P1_PORT": 16001,
            "NET_P1_IP0": 127,
            "NET_P1_IP1": 0,
            "NET_P1_IP2": 0,
            "NET_P1_IP3": 1,
            # UDP server
            "NET_P2_TYPE": 2,
            "NET_P2_PROTOCOL": 2,
            "NET_P2_PORT": 16002,
            "NET_P2_IP0": 0,
            "NET_P2_IP1": 0,
            "NET_P2_IP2": 0,
            "NET_P2_IP3": 0,
            # TCP client
            "NET_P3_TYPE": 3,
            "NET_P3_PROTOCOL": 2,
            "NET_P3_PORT": 16003,
            "NET_P3_IP0": 127,
            "NET_P3_IP1": 0,
            "NET_P3_IP2": 0,
            "NET_P3_IP3": 1,
            # TCP server
            "NET_P4_TYPE": 4,
            "NET_P4_PROTOCOL": 2,
            "NET_P4_PORT": 16004,
            "NET_P4_IP0": 0,
            "NET_P4_IP1": 0,
            "NET_P4_IP2": 0,
            "NET_P4_IP3": 0,
            })
        self.reboot_sitl()

        # ensure the latest log file is very small:
        self.context_push()
        self.set_parameter('LOG_DISARMED', 1)
        self.delay_sim_time(15)
        self.progress(f"Current onboard log filepath {self.current_onboard_log_filepath()}")
        self.context_pop()

        # ensure that the autopilot has a timestamp on that file by
        # now, or MAVProxy does not see it as the latest log:
        self.wait_gps_fix_type_gte(3)

        self.set_parameter('SIM_SPEEDUP', 1)

        endpoints = [('UDPClient', ':16001') ,
                     ('UDPServer', 'udpout:127.0.0.1:16002'),
                     ('TCPClient', 'tcpin:0.0.0.0:16003'),
                     ('TCPServer', 'tcp:127.0.0.1:16004')]
        for name, e in endpoints:
            self.progress("Downloading log with %s %s" % (name, e))
            filename = "MAVProxy-downloaded-net-log-%s.BIN" % name

            mavproxy = self.start_mavproxy(master=e, options=['--source-system=123'])
            self.mavproxy_load_module(mavproxy, 'log')
            self.wait_heartbeat()
            mavproxy.send("log list\n")
            mavproxy.expect("numLogs")
            # ensure the full list of logs has come out
            for i in range(5):
                self.wait_heartbeat()
            mavproxy.send("log download latest %s\n" % filename)
            mavproxy.expect("Finished downloading", timeout=120)
            self.mavproxy_unload_module(mavproxy, 'log')
            self.stop_mavproxy(mavproxy)

        self.set_parameters({
            # multicast UDP client
            "NET_P1_TYPE": 1,
            "NET_P1_PROTOCOL": 2,
            "NET_P1_PORT": 16005,
            "NET_P1_IP0": 239,
            "NET_P1_IP1": 255,
            "NET_P1_IP2": 145,
            "NET_P1_IP3": 50,
            # Broadcast UDP client
            "NET_P2_TYPE": 1,
            "NET_P2_PROTOCOL": 2,
            "NET_P2_PORT": 16006,
            "NET_P2_IP0": 255,
            "NET_P2_IP1": 255,
            "NET_P2_IP2": 255,
            "NET_P2_IP3": 255,
            "NET_P3_TYPE": -1,
            "NET_P4_TYPE": -1,
            "LOG_DISARMED": 0,
            })
        self.reboot_sitl()

        self.set_parameter('SIM_SPEEDUP', 1)

        endpoints = [('UDPMulticast', 'mcast:16005') ,
                     ('UDPBroadcast', ':16006')]
        for name, e in endpoints:
            self.progress("Downloading log with %s %s" % (name, e))
            filename = "MAVProxy-downloaded-net-log-%s.BIN" % name

            mavproxy = self.start_mavproxy(master=e, options=['--source-system=123'])
            self.mavproxy_load_module(mavproxy, 'log')
            self.wait_heartbeat()
            mavproxy.send("log list\n")
            mavproxy.expect("numLogs")
            # ensure the full list of logs has come out
            for i in range(5):
                self.wait_heartbeat()
            mavproxy.send("log download latest %s\n" % filename)
            mavproxy.expect("Finished downloading", timeout=120)
            self.mavproxy_unload_module(mavproxy, 'log')
            self.stop_mavproxy(mavproxy)

        self.context_pop()

    def TestLogDownloadMAVProxyCAN(self, upload_logs=False):
        """Download latest log over CAN serial port"""
        self.context_push()
        self.set_parameters({
            "CAN_P1_DRIVER": 1,
            "LOG_DISARMED": 1,
            })
        self.reboot_sitl()
        self.set_parameters({
            "CAN_D1_UC_SER_EN": 1,
            "CAN_D1_UC_S1_NOD": 125,
            "CAN_D1_UC_S1_IDX": 4,
            "CAN_D1_UC_S1_BD": 57600,
            "CAN_D1_UC_S1_PRO": 2,
            })
        self.reboot_sitl()

        self.set_parameter('SIM_SPEEDUP', 1)

        filename = "MAVProxy-downloaded-can-log.BIN"
        # port 15550 is in SITL_Periph_State.h as SERIAL4 udpclient:127.0.0.1:15550
        mavproxy = self.start_mavproxy(master=':15550')
        mavproxy.expect("Detected vehicle")
        self.mavproxy_load_module(mavproxy, 'log')
        mavproxy.send("log list\n")
        mavproxy.expect("numLogs")
        # ensure the full list of logs has come out
        for i in range(5):
            self.wait_heartbeat()
        mavproxy.send("set shownoise 0\n")
        mavproxy.send("log download latest %s\n" % filename)
        mavproxy.expect("Finished downloading", timeout=120)
        self.mavproxy_unload_module(mavproxy, 'log')
        self.stop_mavproxy(mavproxy)
        self.context_pop()

    def show_gps_and_sim_positions(self, on_off):
        """Allow to display gps and actual position on map."""
        if on_off is True:
            # turn on simulator display of gps and actual position
            self.mavproxy.send('map set showgpspos 1\n')
            self.mavproxy.send('map set showsimpos 1\n')
        else:
            # turn off simulator display of gps and actual position
            self.mavproxy.send('map set showgpspos 0\n')
            self.mavproxy.send('map set showsimpos 0\n')

    @staticmethod
    def mission_count(filename):
        """Load a mission from a file and return number of waypoints."""
        wploader = mavwp.MAVWPLoader()
        wploader.load(filename)
        return wploader.count()

    def install_message_hook(self, hook):
        self.message_hooks.append(hook)

    def install_message_hook_context(self, hook):
        '''installs a message hook which will be removed when the context goes
        away'''
        if self.mav is None:
            return
        self.message_hooks.append(hook)
        self.context_get().message_hooks.append(hook)

    def remove_message_hook(self, hook):
        '''remove hook from list of message hooks.  Assumes it exists exactly
        once'''
        if self.mav is None:
            return
        self.message_hooks.remove(hook)
        if isinstance(hook, TestSuite.MessageHook):
            hook.hook_removed()

    def install_script_content_context(self, scriptname, content):
        '''installs an example script with content which will be
        removed when the context goes away
        '''
        self.install_script_content(scriptname, content)
        self.context_get().installed_scripts.append(scriptname)

    def install_example_script_context(self, scriptname):
        '''installs an example script which will be removed when the context goes
        away'''
        self.install_example_script(scriptname)
        self.context_get().installed_scripts.append(scriptname)

    def install_test_script_context(self, scriptnames):
        '''installs an test script which will be removed when the context goes
        away'''
        if isinstance(scriptnames, str):
            scriptnames = [scriptnames]
        for scriptname in scriptnames:
            self.install_test_script(scriptname)
        self.context_get().installed_scripts.extend(scriptnames)

    def install_test_scripts_context(self, *args, **kwargs):
        '''same as install_test_scripts_context - just pluralised name'''
        return self.install_test_script_context(*args, **kwargs)

    def install_test_modules_context(self):
        '''installs test modules which will be removed when the context goes
        away'''
        self.install_test_modules()
        self.context_get().installed_modules.append("test")

    def install_mavlink_module_context(self):
        '''installs mavlink module which will be removed when the context goes
        away'''
        self.install_mavlink_module()
        self.context_get().installed_modules.append("mavlink")

    def install_applet_script_context(self, scriptname, **kwargs):
        '''installs an applet script which will be removed when the context goes
        away'''
        self.install_applet_script(scriptname, **kwargs)
        self.context_get().installed_scripts.append(scriptname)

    def rootdir(self):
        this_dir = os.path.dirname(__file__)
        return os.path.realpath(os.path.join(this_dir, "../.."))

    def ardupilot_stores_frame_for_cmd(self, t):
        # ardupilot doesn't remember frame on these commands
        return t not in [
            mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
            mavutil.mavlink.MAV_CMD_CONDITION_YAW,
            mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
            mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME,
            mavutil.mavlink.MAV_CMD_DO_JUMP,
            mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
            mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
            mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
            mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
        ]

    def assert_mission_files_same(self, file1, file2, match_comments=False):
        self.progress("Comparing (%s) and (%s)" % (file1, file2, ))

        f1 = open(file1)
        f2 = open(file2)
        lines1 = f1.readlines()
        lines2 = f2.readlines()

        if not match_comments:
            # strip comments from all lines
            lines1 = [re.sub(r"\s*#.*", "", x) for x in lines1]
            lines2 = [re.sub(r"\s*#.*", "", x) for x in lines2]
            lines1 = [x.rstrip() for x in lines1]
            lines2 = [x.rstrip() for x in lines2]
            # remove now-empty lines:
            lines1 = filter(lambda x: len(x), lines1)
            lines2 = filter(lambda x: len(x), lines2)

        for l1, l2 in zip(lines1, lines2):
            l1 = l1.rstrip("\r\n")
            l2 = l2.rstrip("\r\n")
            if l1 == l2:
                # e.g. the first "QGC WPL 110" line
                continue
            if re.match(r"0\s", l1):
                # home changes...
                continue
            l1 = l1.rstrip()
            l2 = l2.rstrip()
            fields1 = re.split(r"\s+", l1)
            fields2 = re.split(r"\s+", l2)
            # line = int(fields1[0])
            t = int(fields1[3]) # mission item type
            for (count, (i1, i2)) in enumerate(zip(fields1, fields2)):
                if count == 2: # frame
                    if not self.ardupilot_stores_frame_for_cmd(t):
                        if int(i1) in [3, 10]: # 3 is relative, 10 is terrain
                            i1 = 0
                        if int(i2) in [3, 10]:
                            i2 = 0
                if count == 6: # param 3
                    if t in [mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME]:
                        # ardupilot canonicalises this to -1 for ccw or 1 for cw.
                        if float(i1) == 0:
                            i1 = 1.0
                        if float(i2) == 0:
                            i2 = 1.0
                if count == 7: # param 4
                    if t == mavutil.mavlink.MAV_CMD_NAV_LAND:
                        # ardupilot canonicalises "0" to "1" param 4 (yaw)
                        if int(float(i1)) == 0:
                            i1 = 1
                        if int(float(i2)) == 0:
                            i2 = 1
                if 0 <= count <= 3 or 11 <= count <= 11:
                    if int(i1) != int(i2):
                        raise ValueError("Files have different content: (%s vs %s) (%s vs %s) (%d vs %d) (count=%u)" %
                                         (file1, file2, l1, l2, int(i1), int(i2), count))  # NOCI
                    continue
                if 4 <= count <= 10:
                    f_i1 = float(i1)
                    f_i2 = float(i2)
                    delta = abs(f_i1 - f_i2)
                    max_allowed_delta = 0.000009
                    if delta > max_allowed_delta:
                        raise ValueError(
                            ("Files have different (float) content: " +
                             "(%s) and (%s) " +
                             "(%s vs %s) " +
                             "(%f vs %f) " +
                             "(%.10f) " +
                             "(count=%u)") %
                            (file1, file2,
                             l1, l2,
                             f_i1, f_i2,
                             delta,
                             count)) # NOCI
                    continue
                raise ValueError("count %u not handled" % count)
        self.progress("Files same")

    def assert_not_receive_message(self, message, timeout=1, mav=None, condition=None):
        '''this is like assert_not_receiving_message but uses sim time not
        wallclock time'''
        self.progress("making sure we're not getting %s messages" % message)
        if mav is None:
            mav = self.mav

        tstart = self.get_sim_time_cached()
        while True:
            m = mav.recv_match(type=message, blocking=True, timeout=0.1, condition=condition)
            if m is not None:
                self.progress("Received: %s" % self.dump_message_verbose(m))
                raise PreconditionFailedException("Receiving %s messages" % message)
            if mav != self.mav:
                # update timestamp....
                self.drain_mav(self.mav)
            if self.get_sim_time_cached() - tstart > timeout:
                return

    def assert_receive_message(self,
                               type,
                               timeout=None,
                               verbose=False,
                               very_verbose=False,
                               mav=None,
                               condition=None,
                               delay_fn=None,
                               instance=None,
                               check_context=False):
        if timeout is None:
            timeout = 1
        if mav is None:
            mav = self.mav

        if check_context:
            collection = self.context_collection(type)
            if len(collection) > 0:
                # return the most-recently-received message:
                return collection[-1]

        m = None
        tstart = time.time()  # timeout in wallclock
        while True:
            m = mav.recv_match(type=type, blocking=True, timeout=0.05, condition=condition)
            if instance is not None:
                if getattr(m, m._instance_field) != instance:
                    continue
            if m is not None:
                break
            elapsed_time = time.time() - tstart
            if elapsed_time > timeout:
                raise NotAchievedException("Did not get %s after %s seconds" %
                                           (type, elapsed_time))
            if delay_fn is not None:
                delay_fn()
        if verbose:
            self.progress("Received (%s)" % str(m))
        if very_verbose:
            self.progress(self.dump_message_verbose(m))
        return m

    def assert_receive_named_value_float(self, name, timeout=10):
        tstart = self.get_sim_time_cached()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("Did not get NAMED_VALUE_FLOAT %s" % name)
            m = self.assert_receive_message('NAMED_VALUE_FLOAT', verbose=1, very_verbose=1, timeout=timeout)
            if m.name != name:
                continue
            return m

    def assert_receive_named_value_float_value(self, name, value, epsilon=0.0001, timeout=10):
        m = self.assert_receive_named_value_float_value(name, timeout=timeout)
        if abs(m.value - value) > epsilon:
            raise NotAchievedException("Bad %s want=%f got=%f" % (name, value, m.value))

    def assert_rally_files_same(self, file1, file2):
        self.progress("Comparing (%s) and (%s)" % (file1, file2, ))
        f1 = open(file1)
        f2 = open(file2)
        lines_f1 = f1.readlines()
        lines_f2 = f2.readlines()
        self.assert_rally_content_same(lines_f1, lines_f2)

    def assert_rally_filepath_content(self, file1, content):
        f1 = open(file1)
        lines_f1 = f1.readlines()
        lines_content = content.split("\n")
        print("lines content: %s" % str(lines_content))
        self.assert_rally_content_same(lines_f1, lines_content)

    def assert_rally_content_same(self, f1, f2):
        '''check each line in f1 matches one-to-one with f2'''
        for l1, l2 in zip(f1, f2):
            print("l1: %s" % l1)
            print("l2: %s" % l2)
            l1 = l1.rstrip("\n")
            l2 = l2.rstrip("\n")
            l1 = l1.rstrip("\r")
            l2 = l2.rstrip("\r")
            if l1 == l2:
                # e.g. the first "QGC WPL 110" line
                continue
            l1 = l1.rstrip()
            l2 = l2.rstrip()
            print("al1: %s" % str(l1))
            print("al2: %s" % str(l2))
            fields1 = re.split(r"\s+", l1)
            fields2 = re.split(r"\s+", l2)
            # line = int(fields1[0])
            # t = int(fields1[3]) # mission item type
            for (count, (i1, i2)) in enumerate(zip(fields1, fields2)):
                self.progress(f"{count=} {i1=} {i2=}")
                if 0 <= count <= 3 or 11 <= count <= 11:
                    if int(i1) != int(i2):
                        raise ValueError(
                            "Rally points different: "
                            f"({l1} vs {l2}) " +
                            f"{int(i1)} vs {int(i2)}) " +
                            f"({count=}))"
                        )
                    continue
                if 4 <= count <= 10:
                    f_i1 = float(i1)
                    f_i2 = float(i2)
                    delta = abs(f_i1 - f_i2)
                    max_allowed_delta = 0.000009
                    self.progress(f"{count=} {f_i1=} {f_i2=}")
                    if delta > max_allowed_delta:
                        raise ValueError(
                            "Rally has different (float) content: " +
                            f"({l1} vs {l2}) " +
                            f"({f_i1} vs {f_i2}) " +
                            f"({delta:.10f}) " +
                            f"({count=})")
                    continue
                raise ValueError("count %u not handled" % count)
        self.progress("Rally content same")

    def load_rally_using_mavproxy(self, filename):
        """Load rally points from a file to flight controller."""
        self.progress("Loading rally points (%s)" % filename)
        path = os.path.join(testdir, self.current_test_name_directory, filename)
        mavproxy = self.start_mavproxy()
        mavproxy.send('rally load %s\n' % path)
        mavproxy.expect("Loaded")
        self.delay_sim_time(10)  # allow transfer to complete
        self.stop_mavproxy(mavproxy)

    def load_sample_mission(self):
        self.load_mission(self.sample_mission_filename())

    def generic_mission_filepath_for_filename(self, filename):
        return os.path.join(testdir, "Generic_Missions", filename)

    def load_generic_mission(self, filename, strict=True):
        return self.load_mission_from_filepath(
            self.generic_mission_filepath_for_filename(filename),
            strict=strict)

    def load_mission(self, filename, strict=True):
        return self.load_mission_from_filepath(
            os.path.join(testdir, self.current_test_name_directory, filename),
            strict=strict)

    def wp_to_mission_item_int(self, wp, mission_type):
        '''convert a MISSION_ITEM to a MISSION_ITEM_INT. We always send as
           MISSION_ITEM_INT to give cm level accuracy
           Swiped from mavproxy_wp.py
        '''
        if wp.get_type() == 'MISSION_ITEM_INT':
            return wp
        wp_int = mavutil.mavlink.MAVLink_mission_item_int_message(
            wp.target_system,
            wp.target_component,
            wp.seq,
            wp.frame,
            wp.command,
            wp.current,
            wp.autocontinue,
            wp.param1,
            wp.param2,
            wp.param3,
            wp.param4,
            int(wp.x*1.0e7),
            int(wp.y*1.0e7),
            wp.z,
            mission_type,
        )
        return wp_int

    def mission_item_protocol_items_from_filepath(self,
                                                  loaderclass,
                                                  filepath,
                                                  target_system=1,
                                                  target_component=1,
                                                  ):
        '''returns a list of mission-item-ints from filepath'''
        # self.progress("filepath: %s" % filepath)
        wploader = loaderclass(
            target_system=target_system,
            target_component=target_component
        )
        itemstype = mavutil.mavlink.enums["MAV_MISSION_TYPE"][wploader.mav_mission_type()].name
        self.progress(f"Loading {itemstype} ({os.path.basename(filepath)})")
        wploader.load(filepath)
        return [self.wp_to_mission_item_int(x, wploader.mav_mission_type()) for x in wploader.wpoints]  # noqa:502

    def mission_from_filepath(self, filepath, target_system=1, target_component=1):
        '''returns a list of mission-item-ints from filepath'''
        return self.mission_item_protocol_items_from_filepath(
            mavwp.MAVWPLoader,
            filepath,
            target_system=target_system,
            target_component=target_component,
        )

    def sitl_home_string_from_mission(self, filename):
        '''return a string of the form "lat,lng,yaw,alt" from the home
        location in a mission file'''
        return "%s,%s,%s,%s" % self.get_home_tuple_from_mission(filename)

    def sitl_home_string_from_mission_filepath(self, filepath):
        '''return a string of the form "lat,lng,yaw,alt" from the home
        location in a mission file'''
        return "%s,%s,%s,%s" % self.get_home_tuple_from_mission_filepath(filepath)

    def get_home_tuple_from_mission(self, filename):
        '''gets item 0 from the mission file, returns a tuple suitable for
        passing to customise_SITL_commandline as --home.  Yaw will be
        0, so the caller may want to fill that in
        '''
        return self.get_home_tuple_from_mission_filepath(
            os.path.join(testdir, self.current_test_name_directory, filename)
        )

    def get_home_location_from_mission(self, filename):
        (home_lat, home_lon, home_alt, heading) = self.get_home_tuple_from_mission("rover-path-planning-mission.txt")
        return mavutil.location(home_lat, home_lon)

    def get_home_tuple_from_mission_filepath(self, filepath):
        '''gets item 0 from the mission file, returns a tuple suitable for
        passing to customise_SITL_commandline as --home.  Yaw will be
        0, so the caller may want to fill that in
        '''
        items = self.mission_from_filepath(filepath)
        home_item = items[0]
        return (home_item.x * 1e-7, home_item.y * 1e-7, home_item.z, 0)

    # TODO: rename the following to "upload_mission_from_filepath"
    def load_mission_from_filepath(self,
                                   filepath,
                                   target_system=1,
                                   target_component=1,
                                   strict=True,
                                   reset_current_wp=True):
        wpoints_int = self.mission_from_filepath(
            filepath,
            target_system=target_system,
            target_component=target_component
        )
        self.check_mission_upload_download(wpoints_int, strict=strict)
        if reset_current_wp:
            # ArduPilot doesn't reset the current waypoint by default
            # we may be in auto mode and running waypoints, so we
            # can't check the current waypoint after resetting it.
            self.set_current_waypoint(0, check_afterwards=False)
        return len(wpoints_int)

    def load_mission_using_mavproxy(self, mavproxy, filename):
        return self.load_mission_from_filepath_using_mavproxy(
            mavproxy,
            self.current_test_name_directory,
            filename)

    def load_mission_from_filepath_using_mavproxy(self,
                                                  mavproxy,
                                                  filepath,
                                                  filename):
        """Load a mission from a file to flight controller."""
        self.progress("Loading mission (%s)" % filename)
        path = os.path.join(testdir, filepath, filename)
        tstart = self.get_sim_time()
        while True:
            t2 = self.get_sim_time()
            if t2 - tstart > 10:
                raise AutoTestTimeoutException("Failed to do waypoint thing")
            # the following hack is to get around MAVProxy statustext deduping:
            while time.time() - self.last_wp_load < 3:
                self.progress("Waiting for MAVProxy de-dupe timer to expire")
                self.drain_mav()
                time.sleep(0.1)
            mavproxy.send('wp load %s\n' % path)
            mavproxy.expect('Loaded ([0-9]+) waypoints from')
            load_count = mavproxy.match.group(1)
            self.last_wp_load = time.time()
            mavproxy.expect("Flight plan received")
            mavproxy.send('wp list\n')
            mavproxy.expect('Requesting ([0-9]+) waypoints')
            request_count = mavproxy.match.group(1)
            if load_count != request_count:
                self.progress("request_count=%s != load_count=%s" %
                              (request_count, load_count))
                continue
            mavproxy.expect('Saved ([0-9]+) waypoints to (.+?way.txt)')
            save_count = mavproxy.match.group(1)
            if save_count != request_count:
                raise NotAchievedException("request count != load count")
            # warning: this assumes MAVProxy was started in the CWD!
            # on the autotest server we invoke autotest.py one-up from
            # the git root, like this:
            # timelimit 32000 APM/Tools/autotest/autotest.py --timeout=30000 > buildlogs/autotest-output.txt 2>&1
            # that means the MAVProxy log files are not reltopdir!
            saved_filepath = mavproxy.match.group(2)
            saved_filepath = saved_filepath.rstrip()
            self.assert_mission_files_same(path, saved_filepath)
            break
        mavproxy.send('wp status\n')
        mavproxy.expect(r'Have (\d+) of (\d+)')
        status_have = mavproxy.match.group(1)
        status_want = mavproxy.match.group(2)
        if status_have != status_want:
            raise ValueError("status count mismatch")
        if status_have != save_count:
            raise ValueError("status have not equal to save count")

        wploader = mavwp.MAVWPLoader()
        wploader.load(path)
        num_wp = wploader.count()
        if num_wp != int(status_have):
            raise ValueError("num_wp=%u != status_have=%u" %
                             (num_wp, int(status_have)))
        if num_wp == 0:
            raise ValueError("No waypoints loaded?!")

        return num_wp

    def save_mission_to_file_using_mavproxy(self, mavproxy, filename):
        """Save a mission to a file"""
        mavproxy.send('wp list\n')
        mavproxy.expect('Requesting [0-9]+ waypoints')
        mavproxy.send('wp save %s\n' % filename)
        mavproxy.expect('Saved ([0-9]+) waypoints')
        num_wp = int(mavproxy.match.group(1))
        self.progress("num_wp: %d" % num_wp)
        return num_wp

    def string_for_frame(self, frame):
        return mavutil.mavlink.enums["MAV_FRAME"][frame].name

    def frames_equivalent(self, f1, f2):
        pairs = [
            (mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
             mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT),
            (mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
             mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT),
            (mavutil.mavlink.MAV_FRAME_GLOBAL,
             mavutil.mavlink.MAV_FRAME_GLOBAL_INT),
        ]
        for pair in pairs:
            if (f1 == pair[0] and f2 == pair[1]):
                return True
            if (f1 == pair[1] and f2 == pair[0]):
                return True
        return f1 == f2

    def check_mission_items_same(self,
                                 check_atts,
                                 want,
                                 got,
                                 epsilon=None,
                                 skip_first_item=False,
                                 strict=True):
        self.progress("Checking mission items same")
        if epsilon is None:
            epsilon = 1
        if len(want) != len(got):
            raise NotAchievedException("Incorrect item count (want=%u got=%u)" % (len(want), len(got)))
        self.progress("Checking %u items" % len(want))
        for i in range(0, len(want)):
            if skip_first_item and i == 0:
                continue
            item = want[i]
            downloaded_item = got[i]

            check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1']
            # z is not preserved

            self.progress("Comparing (%s) and (%s)" % (str(item), str(downloaded_item)))

            for att in check_atts:
                item_val = getattr(item, att)
                downloaded_item_val = getattr(downloaded_item, att)
                if abs(item_val - downloaded_item_val) > epsilon:
                    raise NotAchievedException(
                        "Item %u (%s) has different %s after download want=%s got=%s (got-item=%s)" %
                        (i, str(item), att, str(item_val), str(downloaded_item_val), str(downloaded_item)))
                # for waypoint items ensure z and frame are preserved:
            self.progress("Type is %u" % got[0].mission_type)
            if got[0].mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
                item_val = getattr(item, 'frame')
                downloaded_item_val = getattr(downloaded_item, 'frame')
                # if you are thinking of adding another, "don't annoy
                # me, I know missions aren't troundtripped" non-strict
                # thing here, DON'T do it without first checking "def
                # assert_mission_files_same"; it makes the same checks
                # as will be needed here eventually.
                if ((strict or self.ardupilot_stores_frame_for_cmd(getattr(item, 'command'))) and
                        not self.frames_equivalent(item_val, downloaded_item_val)):
                    raise NotAchievedException("Frame not same (got=%s want=%s)" %
                                               (self.string_for_frame(downloaded_item_val),
                                                self.string_for_frame(item_val)))
                if downloaded_item.z == 0:
                    delta = abs(item.z)
                else:
                    delta = 1 - abs(item.z / downloaded_item.z)
                if delta > 0.01: # error should be less than 1 mm, but float precision issues in Python...
                    raise NotAchievedException("Z not preserved (got=%f want=%f delta=%f%%)" %
                                               (downloaded_item.z, item.z, delta))

    def check_fence_items_same(self, want, got, strict=True):
        check_atts = ['mission_type', 'command', 'x', 'y', 'seq', 'param1']
        return self.check_mission_items_same(check_atts, want, got, strict=strict)

    def check_mission_waypoint_items_same(self, want, got, strict=True):
        check_atts = ['mission_type', 'command', 'x', 'y', 'z', 'seq', 'param1']
        return self.check_mission_items_same(check_atts, want, got, skip_first_item=True, strict=strict)

    def check_mission_item_upload_download(self, items, itype, mission_type, strict=True):
        self.progress("check %s upload/download: upload %u items" %
                      (itype, len(items),))
        self.upload_using_mission_protocol(mission_type, items)
        self.progress("check %s upload/download: download items" % itype)
        downloaded_items = self.download_using_mission_protocol(mission_type)
        if len(items) != len(downloaded_items):
            raise NotAchievedException("Did not download same number of items as uploaded want=%u got=%u" %
                                       (len(items), len(downloaded_items)))
        if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_FENCE:
            self.check_fence_items_same(items, downloaded_items, strict=strict)
        elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
            self.check_mission_waypoint_items_same(items, downloaded_items, strict=strict)
        elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_RALLY:
            self.check_mission_waypoint_items_same(items, downloaded_items, strict=strict)
        else:
            raise NotAchievedException("Unhandled")

    def check_fence_upload_download(self, items):
        self.check_mission_item_upload_download(
            items,
            "fence",
            mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
        if self.use_map and self.mavproxy is not None:
            self.mavproxy.send('fence list\n')

    def check_mission_upload_download(self, items, strict=True):
        self.check_mission_item_upload_download(
            items,
            "waypoints",
            mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
            strict=strict)
        if self.use_map and self.mavproxy is not None:
            self.mavproxy.send('wp list\n')

    def check_rally_upload_download(self, items):
        self.check_mission_item_upload_download(
            items,
            "rally",
            mavutil.mavlink.MAV_MISSION_TYPE_RALLY
        )
        if self.use_map and self.mavproxy is not None:
            self.mavproxy.send('rally list\n')

    def check_dflog_message_rates(self, log_filepath, message_rates):
        reader = self.dfreader_for_path(log_filepath)

        counts = {}
        first = None
        while True:
            m = reader.recv_match()
            if m is None:
                break
            if (m.fmt.instance_field is not None and
                    getattr(m, m.fmt.instance_field) != 0):
                continue

            t = m.get_type()
#            print("t=%s" % str(t))
            if t not in counts:
                counts[t] = 0
            counts[t] += 1

            if hasattr(m, 'TimeUS'):
                if first is None:
                    first = m
                last = m

        if first is None:
            raise NotAchievedException("Did not get any messages")
        delta_time_us = last.TimeUS - first.TimeUS

        for (t, want_rate) in message_rates.items():
            if t not in counts:
                raise NotAchievedException("Wanted %s but got none" % t)
            got_rate = float(counts[t]) / delta_time_us * 1000000
            self.progress(f"Got ({counts[t]}) in ({delta_time_us}us) ({got_rate}/s)")

            if abs(want_rate - got_rate) > 5:
                raise NotAchievedException("Not getting %s data at wanted rate want=%f got=%f" %
                                           (t, want_rate, got_rate))

    def generate_rate_sample_log(self, log_bitmask=None):
        self.context_push()
        params = {
            "LOG_DISARMED": 0,
            "LOG_DARM_RATEMAX": 0,
            "LOG_FILE_RATEMAX": 0,
        }
        if log_bitmask is not None:
            params["LOG_BITMASK"] = log_bitmask

        self.set_parameters(params)
        self.reboot_sitl()
        self.wait_ready_to_arm()
        self.set_parameter("LOG_DISARMED", 1)
        self.delay_sim_time(20)
        self.set_parameter("LOG_DISARMED", 0)
        path = self.current_onboard_log_filepath()
        self.progress("Rate sample log (%s)" % path)
        self.reboot_sitl()  # ensure log is rotated
        self.context_pop()
        return path

    def rc_defaults(self):
        return {
            1: 1500,
            2: 1500,
            3: 1500,
            4: 1500,
            5: 1500,
            6: 1500,
            7: 1500,
            8: 1500,
            9: 1500,
            10: 1500,
            11: 1500,
            12: 1500,
            13: 1500,
            14: 1500,
            15: 1500,
            16: 1500,
        }

    def set_rc_from_map(self, _map, timeout=20, quiet=False):
        map_copy = _map.copy()
        for v in map_copy.values():
            if not isinstance(v, int):
                raise NotAchievedException("RC values must be integers")
        self.rc_queue.put(map_copy)

        if self.rc_thread is None:
            self.rc_thread = threading.Thread(target=self.rc_thread_main, name='RC')
            if self.rc_thread is None:
                raise NotAchievedException("Could not create thread")
            self.rc_thread.start()

        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("Failed to set RC values")
            m = self.mav.recv_match(type='RC_CHANNELS', blocking=True, timeout=1)
            if m is None:
                continue
            bad_channels = ""
            for chan in map_copy:
                chan_pwm = getattr(m, "chan" + str(chan) + "_raw")
                if chan_pwm != map_copy[chan]:
                    bad_channels += " (ch=%u want=%u got=%u)" % (chan, map_copy[chan], chan_pwm)
                    break
            if len(bad_channels) == 0:
                if not quiet:
                    self.progress("RC values good")
                break
            self.progress("RC values bad:%s" % bad_channels)
            if not self.rc_thread.is_alive():
                self.rc_thread = None
                raise ValueError("RC thread is dead")  # FIXME: type

    def rc_thread_main(self):
        chan16 = [1000] * 16

        sitl_output = mavutil.mavudp("127.0.0.1:%u" % self.sitl_rcin_port(), input=False)
        buf = None

        while True:
            if self.rc_thread_should_quit:
                break

            # the 0.05 here means we're updating the RC values into
            # the autopilot at 20Hz - that's our 50Hz wallclock, , not
            # the autopilot's simulated 20Hz, so if speedup is 10 the
            # autopilot will see ~2Hz.
            timeout = 0.02
            # ... and 2Hz is too slow when we now run at 100x speedup:
            timeout /= (self.speedup / 10.0)

            try:
                map_copy = self.rc_queue.get(timeout=timeout)

                # 16 packed entries:
                for i in range(1, 17):
                    if i in map_copy:
                        chan16[i-1] = map_copy[i]

            except Queue.Empty:
                pass

            buf = struct.pack('<HHHHHHHHHHHHHHHH', *chan16)

            if buf is None:
                continue

            sitl_output.write(buf)

    def set_rc_default(self):
        """Setup all simulated RC control to 1500."""
        _defaults = self.rc_defaults()
        self.set_rc_from_map(_defaults)

    def check_rc_defaults(self):
        """Ensure all rc outputs are at defaults"""
        self.do_timesync_roundtrip()
        _defaults = self.rc_defaults()
        m = self.assert_receive_message('RC_CHANNELS', timeout=5)
        need_set = {}
        for chan in _defaults:
            default_value = _defaults[chan]
            current_value = getattr(m, "chan" + str(chan) + "_raw")
            if default_value != current_value:
                self.progress("chan=%u needs resetting is=%u want=%u" %
                              (chan, current_value, default_value))
                need_set[chan] = default_value
        self.set_rc_from_map(need_set)

    def set_rc(self, chan, pwm, timeout=20):
        """Setup a simulated RC control to a PWM value"""
        self.set_rc_from_map({chan: pwm}, timeout=timeout)

    def set_servo(self, chan, pwm):
        """Replicate the functionality of MAVProxy: servo set <ch> <pwm>"""
        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=chan, p2=pwm)

    def location_offset_ne(self, location, north, east):
        '''move location in metres.  You probably wat offset_location_ne'''
        print("old: %f %f" % (location.lat, location.lng))
        (lat, lng) = mp_util.gps_offset(location.lat, location.lng, east, north)
        location.lat = lat
        location.lng = lng
        print("new: %f %f" % (location.lat, location.lng))

    def home_relative_loc_ne(self, n, e):
        ret = self.home_position_as_mav_location()
        self.location_offset_ne(ret, n, e)
        return ret

    def home_relative_loc_neu(self, n, e, u):
        ret = self.home_position_as_mav_location()
        self.location_offset_ne(ret, n, e)
        ret.alt += u
        return ret

    def zero_throttle(self):
        """Set throttle to zero."""
        if self.is_rover():
            self.set_rc(3, 1500)
        else:
            self.set_rc(3, 1000)

    def set_output_to_max(self, chan):
        """Set output to max with RC Radio taking into account REVERSED parameter."""
        is_reversed = self.get_parameter("RC%u_REVERSED" % chan)
        out_max = int(self.get_parameter("RC%u_MAX" % chan))
        out_min = int(self.get_parameter("RC%u_MIN" % chan))
        if is_reversed == 0:
            self.set_rc(chan, out_max)
        else:
            self.set_rc(chan, out_min)

    def set_output_to_min(self, chan):
        """Set output to min with RC Radio taking into account REVERSED parameter."""
        is_reversed = self.get_parameter("RC%u_REVERSED" % chan)
        out_max = int(self.get_parameter("RC%u_MAX" % chan))
        out_min = int(self.get_parameter("RC%u_MIN" % chan))
        if is_reversed == 0:
            self.set_rc(chan, out_min)
        else:
            self.set_rc(chan, out_max)

    def set_output_to_trim(self, chan):
        """Set output to trim with RC Radio."""
        out_trim = int(self.get_parameter("RC%u_TRIM" % chan))
        self.set_rc(chan, out_trim)

    def get_stick_arming_channel(self):
        """Return the Rudder channel number as set in parameter."""
        raise ErrorException("Rudder parameter is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))

    def get_disarm_delay(self):
        """Return disarm delay value."""
        raise ErrorException("Disarm delay is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))

    def arming_test_mission(self):
        """Load arming test mission.
        This mission is used to allow to change mode to AUTO. For each vehicle
        it get an unlimited wait waypoint and the starting takeoff if needed."""
        if self.is_rover() or self.is_plane() or self.is_sub():
            return os.path.join(testdir, self.current_test_name_directory + "test_arming.txt")
        else:
            return None

    def test_takeoff_check_mode(self, mode, user_takeoff=False, force_disarm=False):
        # stabilize check
        self.progress("Motor takeoff check in %s" % mode)
        self.change_mode(mode)
        self.zero_throttle()
        self.wait_ready_to_arm()
        self.context_push()
        self.context_collect('STATUSTEXT')
        self.arm_vehicle()
        if user_takeoff:
            self.run_cmd(
                mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
                p7=10,
            )
        else:
            self.set_rc(3, 1700)
        # we may never see ourselves as armed in a heartbeat
        self.wait_statustext("Takeoff blocked: ESC RPM out of range", check_context=True)
        self.context_pop()
        self.zero_throttle()
        self.disarm_vehicle(force=force_disarm)
        self.wait_disarmed()

    def set_safetyswitch_on(self, **kwargs):
        self.set_safetyswitch(1, **kwargs)

    def set_safetyswitch_off(self, **kwargs):
        self.set_safetyswitch(0, **kwargs)

    def set_safetyswitch(self, value, target_system=1, target_component=1):
        self.mav.mav.set_mode_send(
            target_system,
            mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY,
            value)
        self.wait_sensor_state(
            mavutil.mavlink.MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,
            True, not value, True,
            verbose=True,
            timeout=30
        )

    def armed(self, cached=False):
        """Return True if vehicle is armed and safetyoff"""
        m = None
        if cached:
            m = self.mav.messages.get("HEARTBEAT", None)
        if m is None:
            m = self.wait_heartbeat()
        return (m.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0

    def send_mavlink_arm_command(self):
        self.send_cmd(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=1,  # ARM
        )

    def send_mavlink_disarm_command(self):
        self.send_cmd(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=0,  # DISARM
        )

    def send_mavlink_run_prearms_command(self):
        self.send_cmd(mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS)

    def analog_rangefinder_parameters(self):
        return {
            "RNGFND1_TYPE": 1,
            "RNGFND1_MIN": 0,
            "RNGFND1_MAX": 40.00,
            "RNGFND1_SCALING": 12.12,
            "RNGFND1_PIN": 0,
        }

    def set_analog_rangefinder_parameters(self):
        self.set_parameters(self.analog_rangefinder_parameters())

    def send_debug_trap(self, timeout=6000):
        self.progress("Sending trap to autopilot")
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_DEBUG_TRAP,
            p1=32451, # magic number to trap
            timeout=timeout,
        )

    def try_arm(self, result=True, expect_msg=None, timeout=60):
        """Send Arming command, wait for the expected result and statustext."""
        self.progress("Try arming and wait for expected result")
        self.drain_mav()
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=1,  # ARM
            want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED if result else mavutil.mavlink.MAV_RESULT_FAILED,
            timeout=timeout,
        )
        if expect_msg is not None:
            self.wait_statustext(
                expect_msg,
                timeout=timeout,
                the_function=lambda: self.send_cmd(
                    mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
                    p1=1,  # ARM
                    target_sysid=None,
                    target_compid=None,
                ))

    def arm_vehicle(self, timeout=20, force=False):
        """Arm vehicle with mavlink arm message."""
        self.progress("Arm motors with MAVLink cmd")
        p2 = 0
        if force:
            p2 = 2989
        try:
            self.run_cmd(
                mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
                p1=1,  # ARM
                p2=p2,
                timeout=timeout,
            )
        except ValueError as e:
            # statustexts are queued; give it a second to arrive:
            self.delay_sim_time(5)
            raise e
        try:
            self.wait_armed()
        except AutoTestTimeoutException:
            raise AutoTestTimeoutException("Failed to ARM with mavlink")
        return True

    def wait_armed(self, timeout=20):
        tstart = self.get_sim_time()
        while self.get_sim_time_cached() - tstart < timeout:
            self.wait_heartbeat(drain_mav=False)
            if self.mav.motors_armed():
                self.progress("Motors ARMED")
                return
        raise AutoTestTimeoutException("Did not become armed")

    def disarm_vehicle(self, timeout=60, force=False):
        """Disarm vehicle with mavlink disarm message."""
        self.progress("Disarm motors with MAVLink cmd")
        p2 = 0
        if force:
            p2 = 21196 # magic force disarm value
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=0,  # DISARM
            p2=p2,
            timeout=timeout,
        )
        self.wait_disarmed()

    def disarm_vehicle_expect_fail(self):
        '''disarm, checking first that non-forced disarm fails, then doing a forced disarm'''
        self.progress("Disarm - expect to fail")
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=0,  # DISARM
            timeout=10,
            want_result=mavutil.mavlink.MAV_RESULT_FAILED,
        )
        self.progress("Disarm - forced")
        self.disarm_vehicle(force=True)

    def wait_disarmed_default_wait_time(self):
        return 30

    def wait_disarmed(self, timeout=None, tstart=None):
        if timeout is None:
            timeout = self.wait_disarmed_default_wait_time()
        self.progress("Waiting for DISARM")
        if tstart is None:
            tstart = self.get_sim_time()
        last_print_time = 0
        while True:
            now = self.get_sim_time_cached()
            delta = now - tstart
            if delta > timeout:
                raise AutoTestTimeoutException("Failed to DISARM within %fs" %
                                               (timeout,))
            if now - last_print_time > 1:
                self.progress("Waiting for disarm (%.2fs so far of allowed %.2f)" % (delta, timeout))
                last_print_time = now
            msg = self.wait_heartbeat(quiet=True)
            if msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED:
                # still armed
                continue
            self.progress("DISARMED after %.2f seconds (allowed=%.2f)" %
                          (delta, timeout))
            return

    def wait_attitude(self, desroll=None, despitch=None, timeout=2, tolerance=10, message_type='ATTITUDE'):
        '''wait for an attitude (degrees)'''
        if desroll is None and despitch is None:
            raise ValueError("despitch or desroll must be supplied")
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise AutoTestTimeoutException("Failed to achieve attitude")
            m = self.assert_receive_message(message_type, timeout=60)
            roll_deg = math.degrees(m.roll)
            pitch_deg = math.degrees(m.pitch)
            self.progress("wait_att[%s]: roll=%f desroll=%s pitch=%f despitch=%s" %
                          (message_type, roll_deg, desroll, pitch_deg, despitch))
            if desroll is not None and abs(roll_deg - desroll) > tolerance:
                continue
            if despitch is not None and abs(pitch_deg - despitch) > tolerance:
                continue
            return

    def wait_attitude_quaternion(self,
                                 desroll=None,
                                 despitch=None,
                                 timeout=2,
                                 tolerance=10,
                                 message_type='ATTITUDE_QUATERNION'):
        '''wait for an attitude (degrees)'''
        if desroll is None and despitch is None:
            raise ValueError("despitch or desroll must be supplied")
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise AutoTestTimeoutException("Failed to achieve (quaternion) attitude")
            m = self.poll_message(message_type, quiet=True)
            q = quaternion.Quaternion([m.q1, m.q2, m.q3, m.q4])
            euler = q.euler
            roll = euler[0]
            pitch = euler[1]
            roll_deg = math.degrees(roll)
            pitch_deg = math.degrees(pitch)
            self.progress("wait_att_quat[%s]: roll=%f desroll=%s pitch=%f despitch=%s" %
                          (message_type, roll_deg, desroll, pitch_deg, despitch))
            if desroll is not None and abs(roll_deg - desroll) > tolerance:
                continue
            if despitch is not None and abs(pitch_deg - despitch) > tolerance:
                continue
            self.progress("wait_att_quat: achieved")
            return

    def CPUFailsafe(self):
        '''Ensure we do something appropriate when the main loop stops'''
        # Most vehicles just disarm on failsafe
        # customising the SITL commandline ensures the process will
        # get stopped/started at the end of the test
        if self.frame is None:
            raise ValueError("Frame is none?")
        self.customise_SITL_commandline([])
        self.wait_ready_to_arm()
        self.arm_vehicle()
        self.progress("Sending enter-cpu-lockup")
        # when we're in CPU lockup we don't get SYSTEM_TIME messages,
        # so get_sim_time breaks:
        tstart = self.get_sim_time()
        self.send_cmd_enter_cpu_lockup()
        self.wait_disarmed(timeout=5, tstart=tstart)
        # we're not getting SYSTEM_TIME messages at this point.... and
        # we're in a weird state where the vehicle is armed but the
        # motors are not, and we can't disarm further because Copter
        # looks at whether its *motors* are armed as part of its
        # disarm process.
        self.reset_SITL_commandline()

    def cpufailsafe_wait_servo_channel_value(self, channel, value, timeout=30):
        '''we get restricted messages while doing cpufailsafe, this working then'''
        start = time.time()
        while True:
            if time.time() - start > timeout:
                raise NotAchievedException("Did not achieve value")
            m = self.assert_receive_message('SERVO_OUTPUT_RAW')
            channel_field = "servo%u_raw" % channel
            m_value = getattr(m, channel_field, None)
            self.progress("Servo%u=%u want=%u" % (channel, m_value, value))
            if m_value == value:
                break

    def plane_CPUFailsafe(self):
        '''In lockup Plane should copy RC inputs to RC outputs'''
        # customising the SITL commandline ensures the process will
        # get stopped/started at the end of the test
        self.customise_SITL_commandline([])
        self.wait_ready_to_arm()
        self.arm_vehicle()
        self.progress("Sending enter-cpu-lockup")
        # when we're in CPU lockup we don't get SYSTEM_TIME messages,
        # so get_sim_time breaks:
        self.send_cmd_enter_cpu_lockup()
        start_time = time.time() # not sim time!
        self.context_push()
        self.context_collect("STATUSTEXT")
        while True:
            want = "Initialising ArduPilot"
            if time.time() - start_time > 30:
                raise NotAchievedException("Did not get %s" % want)
            # we still need to parse the incoming messages:
            try:
                self.wait_statustext(want, timeout=0.1, check_context=True, wallclock_timeout=1)
                break
            except AutoTestTimeoutException:
                pass
        self.context_pop()
        # Different scaling for RC input and servo output means the
        # servo output value isn't the rc input value:
        self.progress("Setting RC to 1200")
        self.rc_queue.put({2: 1200})
        self.progress("Waiting for servo of 1260")
        self.cpufailsafe_wait_servo_channel_value(2, 1260)
        self.rc_queue.put({2: 1700})
        self.cpufailsafe_wait_servo_channel_value(2, 1660)
        self.reset_SITL_commandline()

    def mavproxy_arm_vehicle(self, mavproxy):
        """Arm vehicle with mavlink arm message send from MAVProxy."""
        self.progress("Arm motors with MavProxy")
        mavproxy.send('arm throttle\n')
        self.wait_armed()
        self.progress("ARMED")
        return True

    def mavproxy_disarm_vehicle(self, mavproxy):
        """Disarm vehicle with mavlink disarm message send from MAVProxy."""
        self.progress("Disarm motors with MavProxy")
        mavproxy.send('disarm\n')
        self.wait_disarmed()

    def arm_motors_with_rc_input(self, timeout=20):
        """Arm motors with radio."""
        self.progress("Arm motors with radio")
        self.set_output_to_max(self.get_stick_arming_channel())
        tstart = self.get_sim_time()
        while True:
            self.wait_heartbeat()
            tdelta = self.get_sim_time_cached() - tstart
            if self.mav.motors_armed():
                self.progress("MOTORS ARMED OK WITH RADIO")
                self.set_output_to_trim(self.get_stick_arming_channel())
                self.progress("Arm in %ss" % tdelta)  # TODO check arming time
                return
            self.progress("Not armed after %f seconds" % (tdelta))
            if tdelta > timeout:
                break
        self.set_output_to_trim(self.get_stick_arming_channel())
        raise NotAchievedException("Failed to ARM with radio")

    def disarm_motors_with_rc_input(self, timeout=20, watch_for_disabled=False):
        """Disarm motors with radio."""
        self.progress("Disarm motors with radio")
        self.do_timesync_roundtrip()
        self.context_push()
        self.context_collect('STATUSTEXT')
        self.set_output_to_min(self.get_stick_arming_channel())
        tstart = self.get_sim_time()
        ret = False
        while self.get_sim_time_cached() < tstart + timeout:
            self.wait_heartbeat()
            if not self.mav.motors_armed():
                disarm_delay = self.get_sim_time_cached() - tstart
                self.progress("MOTORS DISARMED OK WITH RADIO (in %ss)" % disarm_delay)
                ret = True
                break
            if self.statustext_in_collections("Rudder disarm: disabled"):
                self.progress("Found 'Rudder disarm: disabled' in statustext")
                break
            self.context_clear_collection('STATUSTEXT')
        self.set_output_to_trim(self.get_stick_arming_channel())
        self.context_pop()
        if not ret:
            raise NotAchievedException("Failed to DISARM with RC input")

    def arm_motors_with_switch(self, switch_chan, timeout=20):
        """Arm motors with switch."""
        self.progress("Arm motors with switch %d" % switch_chan)
        self.set_rc(switch_chan, 2000)
        tstart = self.get_sim_time()
        while self.get_sim_time_cached() - tstart < timeout:
            self.wait_heartbeat()
            if self.mav.motors_armed():
                self.progress("MOTORS ARMED OK WITH SWITCH")
                return
        raise NotAchievedException("Failed to ARM with switch")

    def disarm_motors_with_switch(self, switch_chan, timeout=20):
        """Disarm motors with switch."""
        self.progress("Disarm motors with switch %d" % switch_chan)
        self.set_rc(switch_chan, 1000)
        tstart = self.get_sim_time()
        while self.get_sim_time_cached() < tstart + timeout:
            self.wait_heartbeat()
            if not self.mav.motors_armed():
                self.progress("MOTORS DISARMED OK WITH SWITCH")
                return
        raise NotAchievedException("Failed to DISARM with switch")

    def disarm_wait(self, timeout=10):
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("Did not disarm")
            self.wait_heartbeat()
            if not self.mav.motors_armed():
                return

    def wait_autodisarm_motors(self):
        """Wait for Autodisarm motors within disarm delay
        this feature is only available in copter (DISARM_DELAY) and plane (LAND_DISARMDELAY)."""
        self.progress("Wait autodisarming motors")
        disarm_delay = self.get_disarm_delay()
        tstart = self.get_sim_time()
        timeout = disarm_delay * 2
        while self.get_sim_time_cached() < tstart + timeout:
            self.wait_heartbeat()
            if not self.mav.motors_armed():
                disarm_time = self.get_sim_time_cached() - tstart
                self.progress("MOTORS AUTODISARMED")
                self.progress("Autodisarm in %ss, expect less than %ss" % (disarm_time, disarm_delay))
                return disarm_time <= disarm_delay
        raise AutoTestTimeoutException("Failed to AUTODISARM")

    def set_autodisarm_delay(self, delay):
        """Set autodisarm delay"""
        raise ErrorException("Auto disarm is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))

    @staticmethod
    def should_fetch_all_for_parameter_change(param_name):
        return False  # FIXME: if we allow MAVProxy then allow this
        if fnmatch.fnmatch(param_name, "*_ENABLE") or fnmatch.fnmatch(param_name, "*_ENABLED"):
            return True
        if param_name in ["ARSPD_TYPE",
                          "ARSPD2_TYPE",
                          "BATT2_MONITOR",
                          "CAN_DRIVER",
                          "COMPASS_PMOT_EN",
                          "OSD_TYPE",
                          "RSSI_TYPE",
                          "WENC_TYPE"]:
            return True
        return False

    def set_parameter_bit(self, name: str, bit_offset: int) -> None:
        '''set bit in parameter to true, preserving values of other bits'''
        value = int(self.get_parameter(name))
        value |= 1 << bit_offset
        self.set_parameter(name, value)

    def clear_parameter_bit(self, name: str, bit_offset: int) -> None:
        '''set bit in parameter to true, preserving values of other bits'''
        value = int(self.get_parameter(name))
        value &= ~(1 << bit_offset)
        self.set_parameter(name, value)

    def send_set_parameter_direct(self, name, value):
        self.mav.mav.param_set_send(self.sysid_thismav(),
                                    1,
                                    name.encode('ascii'),
                                    value,
                                    mavutil.mavlink.MAV_PARAM_TYPE_REAL32)

    def send_set_parameter_mavproxy(self, name, value):
        self.mavproxy.send("param set %s %s\n" % (name, str(value)))

    def send_set_parameter(self, name, value, verbose=False):
        if verbose:
            self.progress("Send set param for (%s) (%f)" % (name, value))
        return self.send_set_parameter_direct(name, value)

    def set_parameter(self, name, value, **kwargs):
        self.set_parameters({name: value}, **kwargs)

    def set_parameters(self, parameters, add_to_context=True, epsilon_pct=0.00001, verbose=True, attempts=None):
        """Set parameters from vehicle."""

        want = copy.copy(parameters)
        self.progress("set_parameters: (%s)" % str(want))
        self.drain_mav()
        if len(want) == 0:
            return

        if attempts is None:
            # we can easily fill ArduPilot's param-set/param-get queue
            # which is quite short.  So we retry *a lot*.
            attempts = len(want) * 10

        param_value_messages = []

        def add_param_value(mav, m):
            t = m.get_type()
            if t != "PARAM_VALUE":
                return
            param_value_messages.append(m)

        self.install_message_hook(add_param_value)

        original_values = {}
        autopilot_values = {}
        for i in range(attempts):
            self.drain_mav(quiet=True)
            self.drain_all_pexpects()
            received = set()
            for (name, value) in want.items():
                if verbose:
                    self.progress("%s want=%f autopilot=%s (attempt=%u/%u)" %
                                  (name, value, autopilot_values.get(name, 'None'), i+1, attempts))
                if name not in autopilot_values:
                    if verbose:
                        self.progress("Requesting (%s)" % (name,))
                    self.send_get_parameter_direct(name)
                    continue
                delta = abs(autopilot_values[name] - value)
                if delta <= epsilon_pct*0.01*abs(value):
                    # correct value
                    self.progress("%s is now %f" % (name, autopilot_values[name]))
                    if add_to_context:
                        context_param_name_list = [p[0] for p in self.context_get().parameters]
                        if name.upper() not in context_param_name_list:
                            self.context_get().parameters.append((name, original_values[name]))
                    received.add(name)
                    continue
                self.progress("Sending set (%s) to (%f) (old=%f)" % (name, value, original_values[name]))
                self.send_set_parameter_direct(name, value)
            for name in received:
                del want[name]
            if len(want):
                # problem here is that a reboot can happen after we
                # send the request but before we receive the reply:
                try:
                    self.do_timesync_roundtrip(quiet=True)
                except AutoTestTimeoutException:
                    pass
            for m in param_value_messages:
                if m.param_id in want:
                    self.progress("Received wanted PARAM_VALUE %s=%f" %
                                  (str(m.param_id), m.param_value))
                    autopilot_values[m.param_id] = m.param_value
                    if m.param_id not in original_values:
                        original_values[m.param_id] = m.param_value
            param_value_messages = []

        self.remove_message_hook(add_param_value)

        if len(want) == 0:
            return
        raise ValueError("Failed to set parameters (%s)" % want)

    def reorder_compass_appearance(self, device_ids):
        """
        Set compass appearance order by mapping device IDs to SIM_MAGx_DEVID parameters.

        Args:
            device_ids: List of device IDs in desired order

        Example:
            # Swap compass 2 and compass 4
            original_ids = self.get_sim_mag_devids(6)
            # Reorder: [dev1, dev4, dev3, dev2, dev5, dev6]
            reordered = [original_ids[0], original_ids[3], original_ids[2],
                        original_ids[1], original_ids[4], original_ids[5]]
            self.reorder_compass_appearance(reordered)
        """
        # Build parameter dictionary
        params = {}
        for i, dev_id in enumerate(device_ids):
            param_name = f"SIM_MAG{i + 1}_DEVID"
            params[param_name] = dev_id

        # Apply the parameters
        self.set_parameters(params)

    def check_mag_devids_detected(self, num_compasses):
        """
        Check if all SIM_MAGx_DEVID values are present in COMPASS_DEV_ID parameters.

        Args:
            num_compasses: Number of compasses to check

        Raises:
            NotAchievedException: If any SIM_MAG device ID is not found in COMPASS_DEV_ID slots
        """
        # Fetch SIM_MAGx_DEVID values
        sim_device_ids = self.get_sim_mag_devids(num_compasses)

        # Fetch COMPASS_DEV_ID values
        compass_dev_ids = []
        for i in range(1, num_compasses + 1):
            suffix = "" if i == 1 else str(i)
            dev_id = self.get_parameter(f"COMPASS_DEV_ID{suffix}")
            self.progress(f"COMPASS_DEV_ID{suffix} = {dev_id}")
            compass_dev_ids.append(dev_id)

        # Check that each SIM_MAG device ID is present in COMPASS_DEV_ID
        for sim_id in sim_device_ids:
            if sim_id not in compass_dev_ids:
                raise NotAchievedException(
                    f"SIM_MAG device ID {sim_id} not found in COMPASS_DEV_ID slots. "
                    f"SIM IDs: {sim_device_ids}, COMPASS IDs: {compass_dev_ids}"
                )

        self.progress(f"All {num_compasses} compass device IDs detected")

    def get_sim_mag_devids(self, num_compasses):
        """
        Fetch list of device IDs from SIM_MAGx_DEVID parameters.

        Args:
            num_compasses: Number of compasses to fetch

        Returns:
            List of device IDs from SIM_MAG1_DEVID through SIM_MAGn_DEVID
        """
        device_ids = []
        for i in range(1, num_compasses + 1):
            dev_id = self.get_parameter(f"SIM_MAG{i}_DEVID")
            device_ids.append(dev_id)
            self.progress(f"SIM_MAG{i}_DEVID = {dev_id}")
        return device_ids

    # FIXME: modify assert_parameter_value to take epsilon_pct instead:
    def assert_parameter_value_pct(self, name, expected_value, max_error_percent):
        value = self.get_parameter_direct(name, verbose=False)

        # Convert to ratio and find limits
        error_ratio = max_error_percent / 100
        limits = [expected_value * (1 + error_ratio), expected_value * (1 - error_ratio)]

        # Ensure that min and max are always the correct way round
        upper_limit = max(limits)
        lower_limit = min(limits)

        # Work out the true error percentage
        error_percent = math.nan
        if expected_value != 0:
            error_percent = abs(1.0 - (value / expected_value)) * 100

        # Check value is within limits
        if (value > upper_limit) or (value < lower_limit):
            raise ValueError("%s expected %f +/- %f%% (%f to %f) got %s with %f%% error" % (
                name,
                expected_value,
                max_error_percent,
                lower_limit,
                upper_limit,
                value,
                error_percent))

        self.progress("%s: (%f) check passed %f%% error less than %f%%" % (name, value, error_percent, max_error_percent))

    def fetch_all_parameters(self):
        self.mav.mav.param_request_list_send(self.sysid_thismav(), 1)
        tstart = self.get_sim_time_cached()
        ret = {}
        param_count = 0
        while True:
            if param_count > 100 and len(ret) == param_count:
                break
            if self.get_sim_time_cached() - tstart > 5:
                raise NotAchievedException("Did not get all params")
            m = self.mav.recv_match(type='PARAM_VALUE', blocking=True, timeout=0.1)
            if m is None:
                continue
            if param_count is None or m.param_count > param_count:
                param_count = m.param_count
            ret[m.param_id] = m.param_value

        return ret

    def get_parameter(self, *args, **kwargs):
        return self.get_parameter_direct(*args, **kwargs)

    def send_get_parameter_direct(self, name):
        encname = name
        if not isinstance(encname, bytes):
            encname = bytes(encname, 'ascii')
        self.mav.mav.param_request_read_send(self.sysid_thismav(),
                                             1,
                                             encname,
                                             -1)

    def get_parameter_direct(self, name, attempts=1, timeout=60, verbose=True, timeout_in_wallclock=False):
        while attempts > 0:
            attempts -= 1
            if verbose:
                self.progress("Sending param_request_read for (%s)" % name)
            # we MUST parse here or collections fail where we need
            # them to work!
            self.drain_mav(quiet=True)
            if timeout_in_wallclock:
                tstart = time.time()
            else:
                tstart = self.get_sim_time()
            self.send_get_parameter_direct(name)
            while True:
                if timeout_in_wallclock:
                    now = time.time()
                else:
                    now = self.get_sim_time_cached()
                    if tstart > now:
                        self.progress("Time wrap detected")
                        # we're going to have to send another request...
                        break
                delta_time = now - tstart
                if delta_time > timeout:
                    break
                m = self.mav.recv_match(type='PARAM_VALUE', blocking=True, timeout=0.1)
                if verbose:
                    self.progress("get_parameter(%s): %s" % (name, str(m), ))
                if m is None:
                    continue
                if m.param_id == name:
                    if delta_time > 5:
                        self.progress("Long time to get parameter: %fs" % (delta_time,))
                    return m.param_value
                if verbose:
                    self.progress("(%s) != (%s)" % (m.param_id, name,))
        raise NotAchievedException("Failed to retrieve parameter (%s)" % name)

    def get_parameter_mavproxy(self, mavproxy, name, attempts=1, timeout=60):
        """Get parameters from vehicle."""
        for i in range(0, attempts):
            mavproxy.send("param fetch %s\n" % name)
            try:
                mavproxy.expect("%s = ([-0-9.]*)\r\n" % (name,), timeout=timeout/attempts)
                try:
                    # sometimes race conditions garble the MAVProxy output
                    ret = float(mavproxy.match.group(1))
                except ValueError:
                    continue
                return ret
            except pexpect.TIMEOUT:
                pass
        raise NotAchievedException("Failed to retrieve parameter (%s)" % name)

    def get_parameters(self, some_list, **kwargs):
        ret = {}

        for n in some_list:
            ret[n] = self.get_parameter(n, **kwargs)

        return ret

    def context_get(self):
        """Get Saved parameters."""
        return self.contexts[-1]

    def context_push(self):
        """Save a copy of the parameters."""
        context = Context()
        self.contexts.append(context)
        # add a message hook so we can collect messages conveniently:

        def mh(mav, m):
            t = m.get_type()
            if t in context.collections:
                context.collections[t].append(m)
        self.install_message_hook_context(mh)

    def context_collect(self, msg_type):
        '''start collecting messages of type msg_type into context collection'''
        context = self.context_get()
        if msg_type in context.collections:
            return
        context.collections[msg_type] = []

    def context_collection(self, msg_type):
        '''return messages in collection'''
        context = self.context_get()
        if msg_type not in context.collections:
            raise NotAchievedException("Not collecting (%s)" % str(msg_type))
        return context.collections[msg_type]

    def context_clear_collection(self, msg_type):
        '''clear collection of message type msg_type'''
        context = self.context_get()
        if msg_type not in context.collections:
            raise NotAchievedException("Not collecting (%s)" % str(msg_type))
        context.collections[msg_type] = []

    def context_stop_collecting(self, msg_type):
        '''stop collecting messages of type msg_type in context collection.  Returns the collected messages'''
        context = self.context_get()
        if msg_type not in context.collections:
            raise Exception("Not collecting %s" % str(msg_type))
        ret = context.collections[msg_type]
        del context.collections[msg_type]
        return ret

    def context_pop(self, process_interaction_allowed=True, hooks_already_removed=False):
        """Set parameters to origin values in reverse order."""
        dead = self.contexts.pop()
        # remove hooks first; these hooks can raise exceptions which
        # we really don't want...
        if not hooks_already_removed:
            for hook in dead.message_hooks:
                self.remove_message_hook(hook)
        for script in dead.installed_scripts:
            self.remove_installed_script(script)
        for (message_id, rate_hz) in dead.overridden_message_rates.items():
            self.set_message_rate_hz(message_id, rate_hz)
        for module in dead.installed_modules:
            print("Removing module (%s)" % module)
            self.remove_installed_modules(module)
        if dead.sitl_commandline_customised and len(self.contexts):
            self.contexts[-1].sitl_commandline_customised = True
        if dead.raising_debug_trap_on_exceptions:
            sys.settrace(None)

        dead_parameters_dict = {}
        for p in dead.parameters:
            dead_parameters_dict[p[0]] = p[1]
        if process_interaction_allowed:
            self.set_parameters(dead_parameters_dict, add_to_context=False)

        if getattr(self, "old_binary", None) is not None:
            self.stop_SITL()
            with open(self.binary, "wb") as f:
                f.write(self.old_binary)
                f.close()
            self.start_SITL(wipe=False)
            self.set_streamrate(self.sitl_streamrate())
        elif dead.reboot_sitl_was_done:
            self.progress("Doing implicit context-pop reboot")
            self.reboot_sitl(mark_context=False)

    # the following method is broken under Python2; can't **build_opts
    # def context_start_custom_binary(self, extra_defines={}):
    #     # grab copy of current binary:
    #     context = self.context_get()
    #     if getattr(context, "old_binary", None) is not None:
    #         raise ValueError("Not nestable at the moment")
    #     with open(self.binary, "rb") as f:
    #         self.old_binary = f.read()
    #         f.close()
    #     build_opts = copy.copy(self.build_opts)
    #     build_opts["extra_defines"] = extra_defines
    #     util.build_SITL(
    #         'bin/arducopter', # FIXME!
    #         **build_opts,
    #     )
    #     self.stop_SITL()
    #     self.start_SITL(wipe=False)
    #     self.set_streamrate(self.sitl_streamrate())

    class Context(object):
        def __init__(self, testsuite):
            self.testsuite = testsuite

        def __enter__(self):
            self.testsuite.context_push()

        def __exit__(self, type, value, traceback):
            self.testsuite.context_pop()
            return False # re-raise any exception

    def sysid_thismav(self):
        return 1

    def create_MISSION_ITEM_INT(
            self,
            t,
            p1=0,
            p2=0,
            p3=0,
            p4=0,
            x=0,
            y=0,
            z=0,
            frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
            autocontinue=0,
            current=0,
            target_system=1,
            target_component=1,
            seq=0,
            mission_type=mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
    ):
        return self.mav.mav.mission_item_int_encode(
                target_system,
                target_component,
                seq, # seq
                frame,
                t,
                current, # current
                autocontinue, # autocontinue
                p1, # p1
                p2, # p2
                p3, # p3
                p4, # p4
                x, # latitude
                y, # longitude
                z, # altitude
                mission_type
        )

    def run_cmd_int(self,
                    command,
                    p1=0,
                    p2=0,
                    p3=0,
                    p4=0,
                    x=0,
                    y=0,
                    z=0,
                    want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
                    timeout=10,
                    target_sysid=None,
                    target_compid=None,
                    frame=mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
                    p5=None,
                    p6=None,
                    p7=None,
                    quiet=False,
                    mav=None,
                    ):

        if mav is None:
            mav = self.mav

        if p5 is not None:
            x = p5
        if p6 is not None:
            y = p6
        if p7 is not None:
            z = p7

        if target_sysid is None:
            target_sysid = self.sysid_thismav()
        if target_compid is None:
            target_compid = 1

        self.get_sim_time() # required for timeout in run_cmd_get_ack to work

        """Send a MAVLink command int."""
        if not quiet:
            try:
                command_name = mavutil.mavlink.enums["MAV_CMD"][command].name
            except KeyError:
                command_name = "UNKNOWNu"
            self.progress("Sending COMMAND_INT to (%u,%u) (%s=%u) (p1=%f p2=%f p3=%f p4=%f p5=%u p6=%u  p7=%f f=%u)" % (
                target_sysid,
                target_compid,
                command_name,
                command,
                p1,
                p2,
                p3,
                p4,
                x,
                y,
                z,
                frame
            ))
        mav.mav.command_int_send(target_sysid,
                                 target_compid,
                                 frame,
                                 command,
                                 0, # current
                                 0, # autocontinue
                                 p1,
                                 p2,
                                 p3,
                                 p4,
                                 x,
                                 y,
                                 z)
        self.run_cmd_get_ack(command, want_result, timeout, mav=mav)

    def send_cmd(self,
                 command,
                 p1=0,
                 p2=0,
                 p3=0,
                 p4=0,
                 p5=0,
                 p6=0,
                 p7=0,
                 target_sysid=None,
                 target_compid=None,
                 mav=None,
                 quiet=False,
                 ):
        """Send a MAVLink command long."""
        if mav is None:
            mav = self.mav
        if target_sysid is None:
            target_sysid = self.sysid_thismav()
        if target_compid is None:
            target_compid = 1
        if not quiet:
            try:
                command_name = mavutil.mavlink.enums["MAV_CMD"][command].name
            except KeyError:
                command_name = "UNKNOWN"
            self.progress("Sending COMMAND_LONG to (%u,%u) (%s=%u) (p1=%f p2=%f p3=%f p4=%f p5=%f p6=%f  p7=%f)" %
                          (
                              target_sysid,
                              target_compid,
                              command_name,
                              command,
                              p1,
                              p2,
                              p3,
                              p4,
                              p5,
                              p6,
                              p7))
        mav.mav.command_long_send(target_sysid,
                                  target_compid,
                                  command,
                                  1,  # confirmation
                                  p1,
                                  p2,
                                  p3,
                                  p4,
                                  p5,
                                  p6,
                                  p7)

    def run_cmd(self,
                command,
                p1=0,
                p2=0,
                p3=0,
                p4=0,
                p5=0,
                p6=0,
                p7=0,
                want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
                target_sysid=None,
                target_compid=None,
                timeout=10,
                quiet=False,
                mav=None):
        self.drain_mav(mav=mav)
        self.get_sim_time() # required for timeout in run_cmd_get_ack to work
        self.send_cmd(
            command,
            p1,
            p2,
            p3,
            p4,
            p5,
            p6,
            p7,
            target_sysid=target_sysid,
            target_compid=target_compid,
            mav=mav,
            quiet=quiet,
        )
        self.run_cmd_get_ack(command, want_result, timeout, quiet=quiet, mav=mav)

    def run_cmd_get_ack(self, command, want_result, timeout, quiet=False, mav=None, ignore_in_progress=None):
        # note that the caller should ensure that this cached
        # timestamp is reasonably up-to-date!
        if mav is None:
            mav = self.mav
        if ignore_in_progress is None:
            ignore_in_progress = want_result != mavutil.mavlink.MAV_RESULT_IN_PROGRESS
        tstart = self.get_sim_time_cached()
        while True:
            if mav != self.mav:
                self.drain_mav()
            delta_time = self.get_sim_time_cached() - tstart
            if delta_time > timeout:
                raise AutoTestTimeoutException("Did not get good COMMAND_ACK within %fs" % timeout)
            m = mav.recv_match(type='COMMAND_ACK',
                               blocking=True,
                               timeout=0.1)
            if m is None:
                continue
            if not quiet:
                self.progress("ACK received: %s (%fs)" % (str(m), delta_time))
            if m.command == command:
                if m.result == mavutil.mavlink.MAV_RESULT_IN_PROGRESS and ignore_in_progress:
                    continue
                if m.result != want_result:
                    raise ValueError("Expected %s got %s" % (
                        mavutil.mavlink.enums["MAV_RESULT"][want_result].name,
                        mavutil.mavlink.enums["MAV_RESULT"][m.result].name))
                break

    def set_current_waypoint_using_mav_cmd_do_set_mission_current(
            self,
            seq,
            reset=0,
            target_sysid=1,
            target_compid=1):
        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
                     p1=seq,
                     p2=reset,
                     timeout=1,
                     target_sysid=target_sysid,
                     target_compid=target_compid)

    def set_current_waypoint_using_mission_set_current(
            self,
            seq,
            target_sysid=1,
            target_compid=1,
            check_afterwards=True):
        self.mav.mav.mission_set_current_send(target_sysid,
                                              target_compid,
                                              seq)
        if check_afterwards:
            self.wait_current_waypoint(seq, timeout=10)

    def set_current_waypoint(self, seq, target_sysid=1, target_compid=1, check_afterwards=True):
        return self.set_current_waypoint_using_mission_set_current(
            seq,
            target_sysid,
            target_compid,
            check_afterwards=check_afterwards
        )

    def verify_parameter_values(self, parameter_stuff, max_delta=0.0):
        bad = ""
        for param in parameter_stuff:
            fetched_value = self.get_parameter(param)
            wanted_value = parameter_stuff[param]
            if isinstance(wanted_value, tuple):
                max_delta = wanted_value[1]
                wanted_value = wanted_value[0]
            if abs(fetched_value - wanted_value) > max_delta:
                bad += "%s=%f (want=%f +/-%f)    " % (param, fetched_value, wanted_value, max_delta)
        if len(bad):
            raise NotAchievedException("Bad parameter values: %s" %
                                       (bad,))

    #################################################
    # UTILITIES
    #################################################
    def lineno(self):
        '''return line number'''
        frameinfo = getframeinfo(currentframe().f_back)
        # print(frameinfo.filename, frameinfo.lineno)
        return frameinfo.lineno

    @staticmethod
    def longitude_scale(lat):
        ret = math.cos(lat * (math.radians(1)))
        print("scale=%f" % ret)
        return ret

    @staticmethod
    def get_distance(loc1, loc2):
        """Get ground distance between two locations."""
        return TestSuite.get_distance_accurate(loc1, loc2)
        # dlat = loc2.lat - loc1.lat
        # try:
        #     dlong = loc2.lng - loc1.lng
        # except AttributeError:
        #     dlong = loc2.lon - loc1.lon

        # return math.sqrt((dlat*dlat) + (dlong*dlong)*TestSuite.longitude_scale(loc2.lat)) * 1.113195e5

    @staticmethod
    def get_distance_accurate(loc1, loc2):
        """Get ground distance between two locations."""
        try:
            lon1 = loc1.lng
            lon2 = loc2.lng
        except AttributeError:
            lon1 = loc1.lon
            lon2 = loc2.lon

        return mp_util.gps_distance(loc1.lat, lon1, loc2.lat, lon2)

    def assert_distance(self, loc1, loc2, min_distance, max_distance):
        dist = self.get_distance_accurate(loc1, loc2)
        if dist < min_distance or dist > max_distance:
            raise NotAchievedException("Expected distance %f to be between %f and %f" %
                                       (dist, min_distance, max_distance))
        self.progress("Distance %f is between %f and %f" %
                      (dist, min_distance, max_distance))

    @staticmethod
    def get_latlon_attr(loc, attrs):
        '''return any found latitude attribute from loc'''
        ret = None
        for attr in attrs:
            if hasattr(loc, attr):
                ret = getattr(loc, attr)
                break
        if ret is None:
            raise ValueError("None of %s in loc(%s)" % (str(attrs), str(loc)))
        return ret

    @staticmethod
    def get_lat_attr(loc):
        '''return any found latitude attribute from loc'''
        return TestSuite.get_latlon_attr(loc, ["lat", "latitude"])

    @staticmethod
    def get_lon_attr(loc):
        '''return any found latitude attribute from loc'''
        return TestSuite.get_latlon_attr(loc, ["lng", "lon", "longitude"])

    @staticmethod
    def get_distance_int(loc1, loc2):
        """Get ground distance between two locations in the normal "int" form
        - lat/lon multiplied by 1e7"""
        loc1_lat = TestSuite.get_lat_attr(loc1)
        loc2_lat = TestSuite.get_lat_attr(loc2)
        loc1_lon = TestSuite.get_lon_attr(loc1)
        loc2_lon = TestSuite.get_lon_attr(loc2)

        return TestSuite.get_distance_accurate(
            mavutil.location(loc1_lat*1e-7, loc1_lon*1e-7),
            mavutil.location(loc2_lat*1e-7, loc2_lon*1e-7))

        # dlat = loc2_lat - loc1_lat
        # dlong = loc2_lon - loc1_lon
        #
        # dlat /= 10000000.0
        # dlong /= 10000000.0
        #
        # return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5

    def bearing_to(self, loc):
        '''return bearing from here to location'''
        here = self.mav.location()
        return self.get_bearing(here, loc)

    @staticmethod
    def get_bearing(loc1, loc2):
        """Get bearing from loc1 to loc2."""
        off_x = loc2.lng - loc1.lng
        off_y = loc2.lat - loc1.lat
        bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
        if bearing < 0:
            bearing += 360.00
        return bearing

    def send_cmd_do_set_mode(self, mode):
        self.send_cmd(
            mavutil.mavlink.MAV_CMD_DO_SET_MODE,
            p1=mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
            p2=self.get_mode_from_mode_mapping(mode),
        )

    def assert_mode(self, mode):
        self.wait_mode(mode, timeout=0)

    def change_mode(self, mode, timeout=60):
        '''change vehicle flightmode'''
        self.wait_heartbeat()
        self.progress("Changing mode to %s" % mode)
        self.send_cmd_do_set_mode(mode)
        tstart = self.get_sim_time()
        while not self.mode_is(mode):
            custom_num = self.mav.messages['HEARTBEAT'].custom_mode
            self.progress("mav.flightmode=%s Want=%s custom=%u" % (
                self.mav.flightmode, mode, custom_num))
            if (timeout is not None and
                    self.get_sim_time_cached() > tstart + timeout):
                raise WaitModeTimeout("Did not change mode")
            self.send_cmd_do_set_mode(mode)
        self.progress("Got mode %s" % mode)

    def capable(self, capability):
        return self.get_autopilot_capabilities() & capability

    def assert_capability(self, capability):
        if not self.capable(capability):
            name = mavutil.mavlink.enums["MAV_PROTOCOL_CAPABILITY"][capability].name
            raise NotAchievedException("AutoPilot does not have capbility %s" % (name,))

    def assert_no_capability(self, capability):
        if self.capable(capability):
            name = mavutil.mavlink.enums["MAV_PROTOCOL_CAPABILITY"][capability].name
            raise NotAchievedException("AutoPilot has feature %s (when it shouldn't)" % (name,))

    def get_autopilot_capabilities(self):
        self.context_push()
        self.context_collect('AUTOPILOT_VERSION')
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
            p1=1,  # 1: Request autopilot version
        )
        m = self.assert_receive_message('AUTOPILOT_VERSION', timeout=10, check_context=True)
        self.context_pop()
        return m.capabilities

    def decode_flight_sw_version(self, flight_sw_version: int):
        """ Decode 32 bit flight_sw_version mavlink parameter
        corresponds to encoding in ardupilot GCS_MAVLINK::send_autopilot_version."""
        fw_type_id = (flight_sw_version >> 0) % 256
        patch = (flight_sw_version >> 8) % 256
        minor = (flight_sw_version >> 16) % 256
        major = (flight_sw_version >> 24) % 256
        if fw_type_id == 0:
            fw_type = "dev"
        elif fw_type_id == 64:
            fw_type = "alpha"
        elif fw_type_id == 128:
            fw_type = "beta"
        elif fw_type_id == 192:
            fw_type = "rc"
        elif fw_type_id == 255:
            fw_type = "official"
        else:
            fw_type = "undefined"
        return major, minor, patch, fw_type

    def get_autopilot_firmware_version(self):
        self.mav.mav.command_long_send(self.sysid_thismav(),
                                       1,
                                       mavutil.mavlink.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
                                       0,  # confirmation
                                       1,  # 1: Request autopilot version
                                       0,
                                       0,
                                       0,
                                       0,
                                       0,
                                       0)
        m = self.assert_receive_message('AUTOPILOT_VERSION', timeout=10)
        self.fcu_firmware_version = self.decode_flight_sw_version(m.flight_sw_version)

        def hex_values_to_int(hex_values):
            # Convert ascii codes to characters
            hex_chars = [chr(int(hex_value)) for hex_value in hex_values]
            # Convert hex characters to integers, handle \x00 case
            int_values = [0 if hex_char == '\x00' else int(hex_char, 16) for hex_char in hex_chars]
            return int_values

        fcu_hash_to_hex = ""
        for i in hex_values_to_int(m.flight_custom_version):
            fcu_hash_to_hex += f"{i:x}"
        self.fcu_firmware_hash = fcu_hash_to_hex
        self.progress(f"Firmware Version {self.fcu_firmware_version}")
        self.progress(f"Firmware hash {self.fcu_firmware_hash}")
        self.githash = util.get_git_hash(short=True)
        self.progress(f"Git hash {self.githash}")

    def GetCapabilities(self):
        '''Get Capabilities'''
        self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT)
        self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION)

    def get_mode_from_mode_mapping(self, mode) -> int:
        """Validate and return the mode number from a string or int."""
        if isinstance(mode, int):
            return mode
        mode_map = self.mav.mode_mapping()
        if mode_map is None:
            mav_type = self.mav.messages['HEARTBEAT'].type
            mav_autopilot = self.mav.messages['HEARTBEAT'].autopilot
            raise ErrorException("No mode map for (mav_type=%s mav_autopilot=%s)" % (mav_type, mav_autopilot))
        if isinstance(mode, str):
            if mode in mode_map:
                return mode_map.get(mode)
        if mode in mode_map.values():
            return mode
        self.progress("No mode (%s); available modes '%s'" % (mode, mode_map))
        raise ErrorException("Unknown mode '%s'" % mode)

    def get_mode_string_for_mode(self, mode):
        if isinstance(mode, str):
            return mode
        mode_map = self.mav.mode_mapping()
        if mode_map is None:
            return f"mode={mode}"
        for (n, v) in mode_map.items():
            if v == mode:
                return n
        self.progress(f"No mode ({mode} {type(mode)}); available modes '{mode_map}'")
        raise ErrorException("Unknown mode '%s'" % mode)

    def run_cmd_do_set_mode(self,
                            mode,
                            timeout=30,
                            run_cmd=None,
                            want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
        if run_cmd is None:
            run_cmd = self.run_cmd
        base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
        custom_mode = self.get_mode_from_mode_mapping(mode)
        run_cmd(
            mavutil.mavlink.MAV_CMD_DO_SET_MODE,
            p1=base_mode,
            p2=custom_mode,
            want_result=want_result,
            timeout=timeout,
        )

    def do_set_mode_via_command_XYZZY(self, mode, run_cmd, timeout=30):
        """Set mode with a command long message."""
        tstart = self.get_sim_time()
        want_custom_mode = self.get_mode_from_mode_mapping(mode)
        while True:
            remaining = timeout - (self.get_sim_time_cached() - tstart)
            if remaining <= 0:
                raise AutoTestTimeoutException("Failed to change mode")
            self.run_cmd_do_set_mode(mode, run_cmd=run_cmd, timeout=10)
            m = self.wait_heartbeat()
            self.progress("Got mode=%u want=%u" % (m.custom_mode, want_custom_mode))
            if m.custom_mode == want_custom_mode:
                return

    def do_set_mode_via_command_long(self, mode, timeout=30):
        self.do_set_mode_via_command_XYZZY(mode, self.run_cmd, timeout=timeout)

    def do_set_mode_via_command_int(self, mode, timeout=30):
        self.do_set_mode_via_command_XYZZY(mode, self.run_cmd_int, timeout=timeout)

    def mavproxy_do_set_mode_via_command_long(self, mavproxy, mode, timeout=30):
        """Set mode with a command long message with Mavproxy."""
        base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
        custom_mode = self.get_mode_from_mode_mapping(mode)
        tstart = self.get_sim_time()
        while True:
            remaining = timeout - (self.get_sim_time_cached() - tstart)
            if remaining <= 0:
                raise AutoTestTimeoutException("Failed to change mode")
            mavproxy.send("long DO_SET_MODE %u %u\n" %
                          (base_mode, custom_mode))
            m = self.wait_heartbeat()
            if m.custom_mode == custom_mode:
                return True

    def reach_heading_manual(self, heading, turn_right=True):
        """Manually direct the vehicle to the target heading."""
        if self.is_copter() or self.is_sub():
            self.set_rc(4, 1580)
            self.wait_heading(heading)
            self.set_rc(4, 1500)
        if self.is_plane():
            self.set_rc(1, 1800)
            self.wait_heading(heading)
            self.set_rc(1, 1500)
        if self.is_rover():
            steering_pwm = 1700
            if not turn_right:
                steering_pwm = 1300
            self.set_rc(1, steering_pwm)
            self.set_rc(3, 1550)
            self.wait_heading(heading)
            self.set_rc(3, 1500)
            self.set_rc(1, 1500)

    def assert_vehicle_location_is_at_startup_location(self, dist_max=1):
        here = self.mav.location()
        start_loc = self.sitl_start_location()
        dist = self.get_distance(here, start_loc)
        data = "dist=%f max=%f (here: %s start-loc: %s)" % (dist, dist_max, here, start_loc)

        if dist > dist_max:
            raise NotAchievedException("Far from startup location: %s" % data)
        self.progress("Close to startup location: %s" % data)

    def assert_simstate_location_is_at_startup_location(self, dist_max=1):
        simstate_loc = self.sim_location()
        start_loc = self.sitl_start_location()
        dist = self.get_distance(simstate_loc, start_loc)
        data = "dist=%f max=%f (simstate: %s start-loc: %s)" % (dist, dist_max, simstate_loc, start_loc)

        if dist > dist_max:
            raise NotAchievedException("simstate far from startup location: %s" % data)
        self.progress("Simstate Close to startup location: %s" % data)

    def reach_distance_manual(self, distance):
        """Manually direct the vehicle to the target distance from home."""
        if self.is_copter():
            self.set_rc(2, 1350)
            self.wait_distance(distance, accuracy=5, timeout=60)
            self.set_rc(2, 1500)
        if self.is_plane():
            self.progress("NOT IMPLEMENTED")
        if self.is_rover():
            self.set_rc(3, 1700)
            self.wait_distance(distance, accuracy=2)
            self.set_rc(3, 1500)

    def guided_achieve_heading(self, heading, accuracy=None):
        tstart = self.get_sim_time()
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_CONDITION_YAW,
            p1=heading,  # target angle
            p2=10,  # degrees/second
            p3=1,  # -1 is counter-clockwise, 1 clockwise
            p4=0,  # 1 for relative, 0 for absolute
        )
        while True:
            if self.get_sim_time_cached() - tstart > 200:
                raise NotAchievedException("Did not achieve heading")
            m = self.assert_receive_message('VFR_HUD')
            self.progress("heading=%d want=%d" % (m.heading, int(heading)))
            if accuracy is not None:
                delta = abs(m.heading - int(heading))
                if delta <= accuracy:
                    return
            if m.heading == int(heading):
                return

    def assert_heading(self, heading, accuracy=1):
        '''assert vehicle yaw is to heading (0-360)'''
        m = self.assert_receive_message('VFR_HUD')
        if self.heading_delta(heading, m.heading) > accuracy:
            raise NotAchievedException("Unexpected heading=%f want=%f" %
                                       (m.heading, heading))

    def do_set_relay(self, relay_num, on_off, timeout=10):
        """Set relay with a command long message."""
        self.progress("Set relay %d to %d" % (relay_num, on_off))
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_DO_SET_RELAY,
            p1=relay_num,
            p2=on_off,
            timeout=timeout,
        )

    def do_set_relay_mavproxy(self, relay_num, on_off):
        """Set relay with mavproxy."""
        self.progress("Set relay %d to %d" % (relay_num, on_off))
        self.mavproxy.send('module load relay\n')
        self.mavproxy.expect("Loaded module relay")
        self.mavproxy.send("relay set %d %d\n" % (relay_num, on_off))

    def do_fence_enable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=1, want_result=want_result)

    def do_fence_disable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=0, want_result=want_result)

    def do_fence_disable_floor(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=0, p2=8, want_result=want_result)

    def do_fence_enable_except_floor(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, p1=1, p2=7, want_result=want_result)

    #################################################
    # WAIT UTILITIES
    #################################################
    def delay_sim_time(self, seconds_to_wait, reason=None):
        """Wait some second in SITL time."""
        tstart = self.get_sim_time()
        tnow = tstart
        r = "Delaying %f seconds"
        if reason is not None:
            r += " for %s" % reason
        self.progress(r % (seconds_to_wait,))
        while tstart + seconds_to_wait > tnow:
            tnow = self.get_sim_time(drain_mav=False)

    def send_terrain_check_message(self):
        here = self.mav.location()
        self.mav.mav.terrain_check_send(int(here.lat * 1e7), int(here.lng * 1e7))

    def get_terrain_height(self, verbose=False):
        self.send_terrain_check_message()
        m = self.assert_receive_message('TERRAIN_REPORT', very_verbose=True)
        return m.terrain_height

    def get_altitude(self, relative=False, timeout=30, altitude_source=None):
        '''returns vehicles altitude in metres, possibly relative-to-home'''
        if altitude_source is None:
            if relative:
                altitude_source = "GLOBAL_POSITION_INT.relative_alt"
            else:
                altitude_source = "GLOBAL_POSITION_INT.alt"
        if altitude_source == "TERRAIN_REPORT.current_height":
            terrain = self.assert_receive_message('TERRAIN_REPORT')
            return terrain.current_height

        (msg, field) = altitude_source.split('.')
        msg = self.poll_message(msg, quiet=True)
        divisor = 1000.0  # mm is pretty common in mavlink
        if altitude_source == "SIM_STATE.alt":
            divisor = 1.0
        return getattr(msg, field) / divisor

    def assert_altitude(self, alt, accuracy=1, **kwargs):
        got_alt = self.get_altitude(**kwargs)
        if abs(alt - got_alt) > accuracy:
            raise NotAchievedException("Incorrect alt; want=%f got=%f" %
                                       (alt, got_alt))

    def assert_rangefinder_distance_between(self, dist_min, dist_max):
        m = self.assert_receive_message('RANGEFINDER')

        if m.distance < dist_min:
            raise NotAchievedException("below min height (%f < %f)" %
                                       (m.distance, dist_min))

        if m.distance > dist_max:
            raise NotAchievedException("above max height (%f > %f)" %
                                       (m.distance, dist_max))

        self.progress(f"Rangefinder distance {m.distance} is between {dist_min} and {dist_max}")

    def assert_distance_sensor_quality(self, quality):
        m = self.assert_receive_message('DISTANCE_SENSOR')

        if m.signal_quality != quality:
            raise NotAchievedException("Unexpected quality; want=%f got=%f" %
                                       (quality, m.signal_quality))

    def get_rangefinder_distance(self):
        '''returns current rangefinder distance in metres'''
        m = self.assert_receive_message('DISTANCE_SENSOR', timeout=5)
        return m.current_distance * 0.01

    def wait_rangefinder_distance(self, dist_min, dist_max, timeout=30, **kwargs):
        '''wait for DISTANCE_SENSOR distance in metres'''
        def validator(value2, target2=None):
            if dist_min <= value2 <= dist_max:
                return True
            else:
                return False

        self.wait_and_maintain(
            value_name="RangeFinderDistance",
            target=dist_min,
            current_value_getter=lambda: self.get_rangefinder_distance(),
            accuracy=(dist_max - dist_min),
            validator=lambda value2, target2: validator(value2, target2),
            timeout=timeout,
            **kwargs
        )

    def get_esc_rpm(self, esc):
        if esc > 4:
            raise ValueError("Only does 1-4")
        m = self.assert_receive_message('ESC_TELEMETRY_1_TO_4', verbose=True)
        return m.rpm[esc-1]

    def find_first_set_bit(self, mask):
        '''returns offset of first-set-bit (counting from right) in mask.  Returns None if no bits set'''
        pos = 0
        while mask != 0:
            if mask & 0x1:
                return pos
            mask = mask >> 1
            pos += 1
        return None

    def get_rpm(self, rpm_sensor):
        m = self.assert_receive_message('RPM')
        if rpm_sensor == 1:
            ret = m.rpm1
        elif rpm_sensor == 2:
            ret = m.rpm2
        else:
            raise ValueError("Bad sensor id")
        if ret < 0.000001:
            # yay filtering!
            return 0
        return ret

    def wait_rpm(self, rpm_sensor, rpm_min, rpm_max, **kwargs):
        '''wait for RPM to be between rpm_min and rpm_max'''
        def validator(value2, target2=None):
            return rpm_min <= value2 <= rpm_max
        self.wait_and_maintain(
            value_name="RPM%u" % rpm_sensor,
            target=(rpm_min+rpm_max)/2.0,
            current_value_getter=lambda: self.get_rpm(rpm_sensor),
            accuracy=rpm_max-rpm_min,
            validator=lambda value2, target2: validator(value2, target2),
            **kwargs
        )

    def wait_esc_telem_rpm(self, esc, rpm_min, rpm_max, **kwargs):
        '''wait for ESC to be between rpm_min and rpm_max'''
        def validator(value2, target2=None):
            return rpm_min <= value2 <= rpm_max
        self.wait_and_maintain(
            value_name="ESC %u RPM" % esc,
            target=(rpm_min+rpm_max)/2.0,
            current_value_getter=lambda: self.get_esc_rpm(esc),
            accuracy=rpm_max-rpm_min,
            validator=lambda value2, target2: validator(value2, target2),
            **kwargs
        )

    def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=None, **kwargs):
        """Wait for a given altitude range."""
        assert altitude_min <= altitude_max, "Minimum altitude should be less than maximum altitude."

        if timeout is None:
            timeout = 30

        def validator(value2, target2=None):
            if altitude_min <= value2 <= altitude_max:
                return True
            else:
                return False

        altitude_source = kwargs.get("altitude_source", None)

        self.wait_and_maintain(
            value_name="Altitude",
            target=(altitude_min + altitude_max)*0.5,
            current_value_getter=lambda: self.get_altitude(
                relative=relative,
                timeout=timeout,
                altitude_source=altitude_source,
            ),
            accuracy=(altitude_max - altitude_min)*0.5,
            validator=lambda value2, target2: validator(value2, target2),
            timeout=timeout,
            **kwargs
        )

    def watch_altitude_maintained(self, altitude_min, altitude_max, minimum_duration=5, relative=True, altitude_source=None):
        """Watch altitude is maintained or not between altitude_min and altitude_max during minimum_duration"""
        return self.wait_altitude(
            altitude_min=altitude_min,
            altitude_max=altitude_max,
            relative=relative,
            minimum_duration=minimum_duration,
            timeout=minimum_duration + 1,
            altitude_source=altitude_source,
        )

    def wait_climbrate(self, speed_min, speed_max, timeout=30, **kwargs):
        """Wait for a given vertical rate."""
        assert speed_min <= speed_max, "Minimum speed should be less than maximum speed."

        def get_climbrate(timeout2):
            msg = self.assert_receive_message('VFR_HUD', timeout=timeout2)
            return msg.climb

        def validator(value2, target2=None):
            if speed_min <= value2 <= speed_max:
                return True
            else:
                return False

        self.wait_and_maintain(
            value_name="Climbrate",
            target=speed_min,
            current_value_getter=lambda: get_climbrate(timeout),
            accuracy=(speed_max - speed_min),
            validator=lambda value2, target2: validator(value2, target2),
            timeout=timeout,
            **kwargs
        )

    def groundspeed(self):
        m = self.assert_receive_message('VFR_HUD')
        return m.groundspeed

    def wait_groundspeed(self, speed_min, speed_max, timeout=30, **kwargs):
        self.wait_vfr_hud_speed("groundspeed", speed_min, speed_max, timeout=timeout, **kwargs)

    def wait_airspeed(self, speed_min, speed_max, timeout=30, **kwargs):
        self.wait_vfr_hud_speed("airspeed", speed_min, speed_max, timeout=timeout, **kwargs)

    def wait_vfr_hud_speed(self, field, speed_min, speed_max, timeout=30, **kwargs):
        """Wait for a given ground speed range."""
        assert speed_min <= speed_max, "Minimum speed should be less than maximum speed."

        def get_speed(timeout2):
            msg = self.assert_receive_message('VFR_HUD', timeout=timeout2)
            return getattr(msg, field)

        self.wait_and_maintain_range(
            value_name=field,
            minimum=speed_min,
            maximum=speed_max,
            current_value_getter=lambda: get_speed(timeout),
            validator=None,
            timeout=timeout,
            **kwargs
        )

    def wait_roll(self, roll, accuracy, timeout=30, absolute_value=False, **kwargs):
        """Wait for a given roll in degrees."""
        def get_roll(timeout2):
            msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
            p = math.degrees(msg.pitch)
            r = math.degrees(msg.roll)
            if absolute_value:
                r = abs(r)
            self.progress("Roll %d Pitch %d" % (r, p))
            return r

        def validator(value2, target2):
            return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy

        self.wait_and_maintain(
            value_name="Roll",
            target=roll,
            current_value_getter=lambda: get_roll(timeout),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=accuracy,
            timeout=timeout,
            **kwargs
        )

    def wait_pitch(self, pitch, accuracy, timeout=30, **kwargs):
        """Wait for a given pitch in degrees."""
        def get_pitch(timeout2):
            msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
            p = math.degrees(msg.pitch)
            r = math.degrees(msg.roll)
            self.progress("Pitch %d Roll %d" % (p, r))
            return p

        def validator(value2, target2):
            return math.fabs((value2 - target2 + 180) % 360 - 180) <= accuracy

        self.wait_and_maintain(
            value_name="Pitch",
            target=pitch,
            current_value_getter=lambda: get_pitch(timeout),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=accuracy,
            timeout=timeout,
            **kwargs
        )

    def wait_and_maintain(self, value_name, target, current_value_getter, validator=None, accuracy=2.0, timeout=30, **kwargs):
        if isinstance(target, Vector3):
            return self.wait_and_maintain_vector(
                value_name,
                target,
                current_value_getter,
                validator,
                timeout=30,
                **kwargs
            )
        return self.wait_and_maintain_range(
            value_name,
            minimum=target - accuracy,
            maximum=target + accuracy,
            current_value_getter=current_value_getter,
            validator=validator,
            timeout=timeout,
            print_diagnostics_as_target_not_range=True,
            **kwargs
        )

    def wait_and_maintain_vector(self,
                                 value_name,
                                 target,
                                 current_value_getter,
                                 validator,
                                 timeout=30,
                                 **kwargs):
        tstart = self.get_sim_time()
        achieving_duration_start = None
        sum_of_achieved_values = Vector3()
        last_value = Vector3()
        last_fail_print = 0
        count_of_achieved_values = 0
        called_function = kwargs.get("called_function", None)
        minimum_duration = kwargs.get("minimum_duration", 0)
        if minimum_duration >= timeout:
            raise ValueError("minimum_duration >= timeout")

        self.progress("Waiting for %s=(%s)" % (value_name, str(target)))

        last_print_time = 0
        while True:  # if we failed to received message with the getter the sim time isn't updated  # noqa
            now = self.get_sim_time_cached()
            if now - tstart > timeout:
                raise AutoTestTimeoutException(
                    "Failed to attain %s want %s, reached %s" %
                    (value_name,
                     str(target),
                     str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))  # noqa

            last_value = current_value_getter()
            if called_function is not None:
                called_function(last_value, target)
            is_value_valid = validator(last_value, target)
            if self.get_sim_time_cached() - last_print_time > 1:
                if is_value_valid:
                    want_or_got = "got"
                else:
                    want_or_got = "want"
                achieved_duration_bit = ""
                if achieving_duration_start is not None:
                    so_far = self.get_sim_time_cached() - achieving_duration_start
                    achieved_duration_bit = " (maintain=%.1f/%.1f)" % (so_far, minimum_duration)
                    self.progress(
                        "%s=(%s) (%s (%s))%s" %
                        (value_name,
                         str(last_value),
                         want_or_got,
                         str(target),
                         achieved_duration_bit)
                    )
                last_print_time = self.get_sim_time_cached()
            if is_value_valid:
                sum_of_achieved_values += last_value
                count_of_achieved_values += 1.0
                if achieving_duration_start is None:
                    achieving_duration_start = self.get_sim_time_cached()
                if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration:
                    self.progress("Attained %s=%s" % (
                        value_name,
                        str(sum_of_achieved_values * (1.0 / count_of_achieved_values))))
                    return True
            else:
                achieving_duration_start = None
                sum_of_achieved_values.zero()
                count_of_achieved_values = 0
                if now - last_fail_print > 1:
                    self.progress("Waiting for (%s), got %s" %
                                  (target, last_value))
                    last_fail_print = now

    def validate_kwargs(self, kwargs, valid: dict | None = None):
        if valid is None:
            valid = {}
        for key in kwargs:
            if key not in valid:
                raise NotAchievedException("Invalid kwarg %s" % str(key))

    def wait_and_maintain_range(self,
                                value_name,
                                minimum,
                                maximum,
                                current_value_getter,
                                validator=None,
                                value_averager=None,
                                timeout=30,
                                print_diagnostics_as_target_not_range=False,
                                **kwargs):
        self.validate_kwargs(kwargs, valid=frozenset([
            "called_function",
            "minimum_duration",
            "altitude_source",
        ]))

        if print_diagnostics_as_target_not_range:
            target = (minimum + maximum) / 2
            accuracy = (maximum - minimum) / 2
        tstart = self.get_sim_time()
        achieving_duration_start = None
        sum_of_achieved_values = 0.0
        last_value = 0.0
        count_of_achieved_values = 0
        called_function = kwargs.get("called_function", None)
        minimum_duration = kwargs.get("minimum_duration", 0)
        if minimum_duration >= timeout:
            raise ValueError("minimum_duration >= timeout")
        if print_diagnostics_as_target_not_range:
            self.progress("Waiting for %s=%.02f with accuracy %.02f" % (value_name, target, accuracy))
        else:
            self.progress("Waiting for %s between (%s) and (%s)" % (value_name, str(minimum), str(maximum)))
        last_print_time = 0
        while self.get_sim_time_cached() < tstart + timeout:  # if we failed to received message with the getter the sim time isn't updated  # noqa
            last_value = current_value_getter()
            if called_function is not None:
                if print_diagnostics_as_target_not_range:
                    called_function(last_value, target)
                else:
                    called_function(last_value, minimum, maximum)
            if validator is not None:
                if print_diagnostics_as_target_not_range:
                    is_value_valid = validator(last_value, target)
                else:
                    is_value_valid = validator(last_value, minimum, maximum)
            else:
                is_value_valid = (minimum <= last_value) and (last_value <= maximum)
            if self.get_sim_time_cached() - last_print_time > 1:
                if is_value_valid:
                    want_or_got = "got"
                else:
                    want_or_got = "want"
                achieved_duration_bit = ""
                if achieving_duration_start is not None:
                    so_far = self.get_sim_time_cached() - achieving_duration_start
                    achieved_duration_bit = " (maintain=%.1f/%.1f)" % (so_far, minimum_duration)

                if print_diagnostics_as_target_not_range:
                    self.progress(
                        "%s=%0.2f (%s %f +- %f)%s" %
                        (value_name,
                         last_value,
                         want_or_got,
                         target,
                         accuracy,
                         achieved_duration_bit)
                    )
                else:
                    if isinstance(last_value, float):
                        self.progress(
                            "%s=%0.2f (%s between %s and %s)%s" %
                            (value_name,
                             last_value,
                             want_or_got,
                             str(minimum),
                             str(maximum),
                             achieved_duration_bit)
                        )
                    else:
                        self.progress(
                            "%s=%s (%s between %s and %s)%s" %
                            (value_name,
                             last_value,
                             want_or_got,
                             str(minimum),
                             str(maximum),
                             achieved_duration_bit)
                        )
                last_print_time = self.get_sim_time_cached()
            if is_value_valid:
                if value_averager is not None:
                    average = value_averager.add_value(last_value)
                else:
                    sum_of_achieved_values += last_value
                    count_of_achieved_values += 1.0
                    average = sum_of_achieved_values / count_of_achieved_values
                if achieving_duration_start is None:
                    achieving_duration_start = self.get_sim_time_cached()
                if self.get_sim_time_cached() - achieving_duration_start >= minimum_duration:
                    self.progress("Attained %s=%s" % (value_name, average))
                    return True
            else:
                achieving_duration_start = None
                sum_of_achieved_values = 0.0
                count_of_achieved_values = 0
                if value_averager is not None:
                    value_averager.reset()
        if print_diagnostics_as_target_not_range:
            raise AutoTestTimeoutException(
                "Failed to attain %s want %s, reached %s" %
                (value_name,
                 str(target),
                 str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))
        else:
            raise AutoTestTimeoutException(
                "Failed to attain %s between %s and %s, reached %s" %
                (value_name,
                 str(minimum),
                 str(maximum),
                 str(sum_of_achieved_values / count_of_achieved_values) if count_of_achieved_values != 0 else str(last_value)))

    def heading_delta(self, heading1, heading2):
        '''return angle between two 0-360 headings'''
        return math.fabs((heading1 - heading2 + 180) % 360 - 180)

    def get_heading(self, timeout=1):
        '''return heading 0-359'''
        m = self.assert_receive_message('VFR_HUD', timeout=timeout)
        return m.heading

    def wait_heading(self, heading, accuracy=5, timeout=30, **kwargs):
        """Wait for a given heading."""
        def get_heading_wrapped(timeout2):
            return self.get_heading(timeout=timeout2)

        def validator(value2, target2):
            return self.heading_delta(value2, target2) <= accuracy

        self.wait_and_maintain(
            value_name="Heading",
            target=heading,
            current_value_getter=lambda: get_heading_wrapped(timeout),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=accuracy,
            timeout=timeout,
            **kwargs
        )

    def wait_yaw_speed(self, yaw_speed, accuracy=0.1, timeout=30, **kwargs):
        """Wait for a given yaw speed in radians per second."""
        def get_yawspeed(timeout2):
            msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
            return msg.yawspeed

        def validator(value2, target2):
            return math.fabs(value2 - target2) <= accuracy

        self.wait_and_maintain(
            value_name="YawSpeed",
            target=yaw_speed,
            current_value_getter=lambda: get_yawspeed(timeout),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=accuracy,
            timeout=timeout,
            **kwargs
        )

    def get_speed_vector(self, timeout=1):
        '''return speed vector, NED'''
        msg = self.assert_receive_message('LOCAL_POSITION_NED', timeout=timeout)
        return Vector3(msg.vx, msg.vy, msg.vz)

    """Wait for a given speed vector."""
    def wait_speed_vector(self, speed_vector, accuracy=0.3, timeout=30, **kwargs):
        def validator(value2, target2):
            for (want, got) in (target2.x, value2.x), (target2.y, value2.y), (target2.z, value2.z):
                if want != float("nan") and (math.fabs(got - want) > accuracy):
                    return False
            return True

        self.wait_and_maintain(
            value_name="SpeedVector",
            target=speed_vector,
            current_value_getter=lambda: self.get_speed_vector(timeout=timeout),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=accuracy,
            timeout=timeout,
            **kwargs
        )

    def get_descent_rate(self):
        '''get descent rate - a positive number if you are going down'''
        return abs(self.get_speed_vector().z)

    def wait_descent_rate(self, rate, accuracy=0.1, **kwargs):
        '''wait for descent rate rate, a positive number if going down'''
        def validator(value, target):
            return math.fabs(value - target) <= accuracy

        self.wait_and_maintain(
            value_name="DescentRate",
            target=rate,
            current_value_getter=lambda: self.get_descent_rate(),
            validator=lambda value, target: validator(value, target),
            accuracy=accuracy,
            **kwargs
        )

    def get_body_frame_velocity(self):
        gri = self.assert_receive_message('GPS_RAW_INT')
        att = self.assert_receive_message('ATTITUDE')
        return mavextra.gps_velocity_body(gri, att)

    def wait_speed_vector_bf(self, speed_vector, accuracy=0.2, timeout=30, **kwargs):
        """Wait for a given speed vector."""
        def get_speed_vector(timeout2):
            return self.get_body_frame_velocity()

        def validator(value2, target2):
            return (math.fabs(value2.x - target2.x) <= accuracy and
                    math.fabs(value2.y - target2.y) <= accuracy and
                    math.fabs(value2.z - target2.z) <= accuracy)

        self.wait_and_maintain(
            value_name="SpeedVectorBF",
            target=speed_vector,
            current_value_getter=lambda: get_speed_vector(timeout),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=accuracy,
            timeout=timeout,
            **kwargs
        )

    def wait_distance_between(self, series1, series2, min_distance, max_distance, timeout=30, **kwargs):
        """Wait for distance between two position series to be between two thresholds."""
        def get_distance():
            self.drain_mav()
            m1 = self.mav.messages[series1]
            m2 = self.mav.messages[series2]
            return self.get_distance_int(m1, m2)

        self.wait_and_maintain_range(
            value_name=f"Distance({series1}, {series2})",
            minimum=min_distance,
            maximum=max_distance,
            current_value_getter=lambda: get_distance(),
            timeout=timeout,
            **kwargs
        )

    def wait_distance(self, distance, accuracy=2, timeout=30, **kwargs):
        """Wait for flight of a given distance."""
        start = self.mav.location()

        def get_distance():
            return self.get_distance(start, self.mav.location())

        def validator(value2, target2):
            return math.fabs(value2 - target2) <= accuracy

        self.wait_and_maintain(
            value_name="Distance",
            target=distance,
            current_value_getter=lambda: get_distance(),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=accuracy,
            timeout=timeout,
            **kwargs
        )

    def wait_distance_to_waypoint(self, wp_num, distance_min, distance_max, **kwargs):
        # TODO: use mission_request_partial_list_send
        wps = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
        m = wps[wp_num]
        self.progress("m: %s" % str(m))
        loc = mavutil.location(m.x / 1.0e7, m.y / 1.0e7, 0, 0)
        self.progress("loc: %s" % str(loc))
        self.wait_distance_to_location(loc, distance_min, distance_max, **kwargs)

    def wait_distance_to_location(self, location, distance_min, distance_max, timeout=30, **kwargs):
        """Wait for flight of a given distance."""
        assert distance_min <= distance_max, "Distance min should be less than distance max."

        def get_distance():
            return self.get_distance(location, self.mav.location())

        def validator(value2, target2=None):
            return distance_min <= value2 <= distance_max

        self.wait_and_maintain(
            value_name="Distance",
            target=distance_min,
            current_value_getter=lambda: get_distance(),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=(distance_max - distance_min), timeout=timeout,
            **kwargs
        )

    def wait_distance_to_home(self, distance_min, distance_max, timeout=10, use_cached_home=True, **kwargs):
        """Wait for distance to home to be within specified bounds."""
        assert distance_min <= distance_max, "Distance min should be less than distance max."

        def get_distance():
            return self.distance_to_home(use_cached_home)

        def validator(value2, target2=None):
            return distance_min <= value2 <= distance_max

        self.wait_and_maintain(
            value_name="Distance to home",
            target=distance_min,
            current_value_getter=lambda: get_distance(),
            validator=lambda value2, target2: validator(value2, target2),
            accuracy=(distance_max - distance_min), timeout=timeout,
            **kwargs
        )

    def assert_at_home(self, accuracy=1):
        if self.distance_to_home() > accuracy:
            raise NotAchievedException("Not at home")

    def wait_distance_to_nav_target(self,
                                    distance_min,
                                    distance_max,
                                    timeout=10,
                                    use_cached_nav_controller_output=False,
                                    **kwargs):
        """Wait for distance to home to be within specified bounds."""
        assert distance_min <= distance_max, "Distance min should be less than distance max."

        def get_distance():
            return self.distance_to_nav_target(use_cached_nav_controller_output)

        def validator(value2, target2=None):
            return distance_min <= value2 <= distance_max

        self.wait_and_maintain(
            value_name="Distance to nav target",
            target=distance_min,
            current_value_getter=lambda: get_distance(),
            validator=lambda value2,
            target2: validator(value2, target2),
            accuracy=(distance_max - distance_min),
            timeout=timeout,
            **kwargs
        )

    def get_local_position_NED(self):
        '''return a Vector3 repreesenting vehicle position relative to
        origin in metres, NED'''
        pos = self.assert_receive_message('LOCAL_POSITION_NED')
        return Vector3(pos.x, pos.y, pos.z)

    def distance_to_local_position(self, local_pos, timeout=30):
        (x, y, z_down) = local_pos  # alt is *up*

        pos = self.assert_receive_message('LOCAL_POSITION_NED', timeout=timeout)

        delta_x = pos.x - x
        delta_y = pos.y - y
        delta_z = pos.z - z_down
        return math.sqrt(delta_x*delta_x + delta_y*delta_y + delta_z*delta_z)

    def wait_distance_to_local_position(self,
                                        local_position,  # (x, y, z_down)
                                        distance_min,
                                        distance_max,
                                        timeout=10,
                                        **kwargs):
        """Wait for distance to home to be within specified bounds."""
        assert distance_min <= distance_max, "Distance min should be less than distance max."

        def get_distance():
            return self.distance_to_local_position(local_position)

        def validator(value2, target2=None):
            return distance_min <= value2 <= distance_max

        (x, y, z_down) = local_position
        self.wait_and_maintain(
            value_name="Distance to (%f,%f,%f)" % (x, y, z_down),
            target=distance_min,
            current_value_getter=lambda: get_distance(),
            validator=lambda value2,
            target2: validator(value2, target2),
            accuracy=(distance_max - distance_min),
            timeout=timeout,
            **kwargs
        )

    def wait_parameter_value(self, parameter, value, timeout=10):
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("%s never got value %f" %
                                           (parameter, value))
            v = self.get_parameter(parameter, verbose=False)
            self.progress("Got parameter value (%s=%f)" %
                          (parameter, v))
            if v == value:
                return
            self.delay_sim_time(0.1)

    def wait_parameter_values(self, parameters, timeout=10):
        need_to_see = copy.copy(parameters)
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException(f"Parameters did not get values: {need_to_see}")
            new_values = self.get_parameters(need_to_see.keys())
            for (n, v) in new_values.items():
                self.progress(f"Got parameter value ({n}={v}) want={need_to_see[n]}")
                if need_to_see[n] == v:
                    del need_to_see[n]
            if len(need_to_see) == 0:
                break

    def get_servo_channel_value(self, channel, timeout=2):
        channel_field = "servo%u_raw" % channel
        tstart = self.get_sim_time()
        while True:
            remaining = timeout - (self.get_sim_time_cached() - tstart)
            if remaining <= 0:
                raise NotAchievedException("Channel value condition not met")
            m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
                                    blocking=True,
                                    timeout=remaining)
            if m is None:
                continue
            m_value = getattr(m, channel_field, None)
            if m_value is None:
                raise ValueError("message (%s) has no field %s" %
                                 (str(m), channel_field))
            return m_value

    def wait_servo_channel_value(self, channel, value, epsilon=0, timeout=2, comparator=operator.eq):
        """wait for channel value comparison (default condition is equality)"""
        channel_field = "servo%u_raw" % channel
        opstring = ("%s" % comparator)[-3:-1]
        tstart = self.get_sim_time()
        while True:
            remaining = timeout - (self.get_sim_time_cached() - tstart)
            if remaining <= 0:
                raise NotAchievedException("Channel value condition not met")
            m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
                                    blocking=True,
                                    timeout=remaining)
            if m is None:
                continue
            m_value = getattr(m, channel_field, None)
            if m_value is None:
                raise ValueError("message (%s) has no field %s" %
                                 (str(m), channel_field))
            self.progress("SERVO_OUTPUT_RAW.%s got=%u %s want=%u" %
                          (channel_field, m_value, opstring, value))
            if comparator == operator.eq:
                if abs(m_value - value) <= epsilon:
                    return m_value
            if comparator(m_value, value):
                return m_value

    def wait_servo_channel_in_range(self, channel, v_min, v_max, timeout=2):
        """wait for channel value to be within acceptable range"""
        channel_field = "servo%u_raw" % channel
        tstart = self.get_sim_time()
        while True:
            remaining = timeout - (self.get_sim_time_cached() - tstart)
            if remaining <= 0:
                raise NotAchievedException("Channel value condition not met")
            m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
                                    blocking=True,
                                    timeout=remaining)
            if m is None:
                continue
            m_value = getattr(m, channel_field, None)
            if m_value is None:
                raise ValueError("message (%s) has no field %s" %
                                 (str(m), channel_field))
            self.progress("want %u <= SERVO_OUTPUT_RAW.%s <= %u, got value = %u" %
                          (v_min, channel_field, v_max, m_value))
            if (v_min <= m_value) and (m_value <= v_max):
                return m_value

    def assert_servo_channel_value(self, channel, value, comparator=operator.eq):
        """assert channel value (default condition is equality)"""
        channel_field = "servo%u_raw" % channel
        opstring = ("%s" % comparator)[-3:-1]
        m = self.assert_receive_message('SERVO_OUTPUT_RAW')
        m_value = getattr(m, channel_field, None)
        if m_value is None:
            raise ValueError("message (%s) has no field %s" %
                             (str(m), channel_field))
        self.progress("assert SERVO_OUTPUT_RAW.%s=%u %s %u" %
                      (channel_field, m_value, opstring, value))
        if comparator(m_value, value):
            return m_value
        raise NotAchievedException("Wrong value")

    def assert_servo_channel_range(self, channel, value_min, value_max):
        """assert channel value is within the range [value_min, value_max]"""
        channel_field = "servo%u_raw" % channel
        m = self.assert_receive_message('SERVO_OUTPUT_RAW')
        m_value = getattr(m, channel_field, None)
        if m_value is None:
            raise ValueError("message (%s) has no field %s" %
                             (str(m), channel_field))
        self.progress("assert SERVO_OUTPUT_RAW.%s=%u in [%u, %u]" %
                      (channel_field, m_value, value_min, value_max))
        if m_value >= value_min and m_value <= value_max:
            return m_value
        raise NotAchievedException("Wrong value")

    def get_rc_channel_value(self, channel, timeout=2):
        """wait for channel to hit value"""
        channel_field = "chan%u_raw" % channel
        tstart = self.get_sim_time()
        while True:
            remaining = timeout - (self.get_sim_time_cached() - tstart)
            if remaining <= 0:
                raise NotAchievedException("Channel never achieved value")
            m = self.mav.recv_match(type='RC_CHANNELS',
                                    blocking=True,
                                    timeout=remaining)
            if m is None:
                continue
            m_value = getattr(m, channel_field)
            if m_value is None:
                raise ValueError("message (%s) has no field %s" %
                                 (str(m), channel_field))
            return m_value

    def wait_rc_channel_value(self, channel, value, timeout=2):
        channel_field = "chan%u_raw" % channel
        tstart = self.get_sim_time()
        while True:
            remaining = timeout - (self.get_sim_time_cached() - tstart)
            if remaining <= 0:
                raise NotAchievedException("Channel never achieved value")
            m_value = self.get_rc_channel_value(channel, timeout=timeout)
            self.progress("RC_CHANNELS.%s=%u want=%u" %
                          (channel_field, m_value, value))
            if value == m_value:
                return

    def assert_rc_channel_value(self, channel, value):
        channel_field = "chan%u_raw" % channel

        m_value = self.get_rc_channel_value(channel, timeout=1)
        self.progress("RC_CHANNELS.%s=%u want=%u" %
                      (channel_field, m_value, value))
        if value != m_value:
            raise NotAchievedException("Expected %s to be %u got %u" %
                                       (channel, value, m_value))

    def send_do_reposition(self,
                           loc,
                           frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT):
        '''send a DO_REPOSITION command for a location'''
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_DO_REPOSITION,
            0,
            0,
            0,
            0,
            int(loc.lat*1e7), # lat* 1e7
            int(loc.lng*1e7), # lon* 1e7
            loc.alt,
            frame=frame
        )

    def add_rally_point(self, loc, seq, total):
        '''add a rally point at the given location'''
        self.mav.mav.rally_point_send(1, # target system
                                      0, # target component
                                      seq, # sequence number
                                      total, # total count
                                      int(loc.lat * 1e7),
                                      int(loc.lng * 1e7),
                                      loc.alt, # relative alt
                                      0, # "break" alt?!
                                      0, # "land dir"
                                      0) # flags

    def wait_location(self, loc, **kwargs):
        waiter = WaitAndMaintainLocation(self, loc, **kwargs)
        waiter.run()

    def assert_current_waypoint(self, wpnum):
        seq = self.mav.waypoint_current()
        if seq != wpnum:
            raise NotAchievedException("Incorrect current wp")

    def wait_current_waypoint(self, wpnum, timeout=70):
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time() - tstart > timeout:
                raise AutoTestTimeoutException("Did not get wanted current waypoint")
            seq = self.mav.waypoint_current()
            wp_dist = None
            try:
                wp_dist = self.mav.messages['NAV_CONTROLLER_OUTPUT'].wp_dist
            except (KeyError, AttributeError):
                pass
            self.progress("Waiting for wp=%u current=%u dist=%sm" % (wpnum, seq, wp_dist))
            if seq == wpnum:
                break

    def wait_waypoint(self,
                      wpnum_start,
                      wpnum_end,
                      allow_skip=True,
                      max_dist=2,
                      timeout=400,
                      ignore_RTL_mode_change=False,
                      ignore_MANUAL_mode_change=False,
                      ):
        """Wait for waypoint ranges."""
        tstart = self.get_sim_time()
        # this message arrives after we set the current WP
        start_wp = self.mav.waypoint_current()
        current_wp = start_wp
        mode = self.mav.flightmode

        self.progress("wait for waypoint ranges start=%u end=%u"
                      % (wpnum_start, wpnum_end))
        # if start_wp != wpnum_start:
        #    raise WaitWaypointTimeout("test: Expected start waypoint %u "
        #                              "but got %u" %
        #                  (wpnum_start, start_wp))

        last_wp_msg = 0
        while self.get_sim_time_cached() < tstart + timeout:
            seq = self.mav.waypoint_current()
            m = self.assert_receive_message('NAV_CONTROLLER_OUTPUT')
            wp_dist = m.wp_dist
            m = self.assert_receive_message('VFR_HUD')

            # if we changed mode, fail
            if not self.mode_is('AUTO'):
                self.progress(f"{self.mav.flightmode} vs {self.get_mode_from_mode_mapping(mode)}")
                ignore_mode_change = (
                    (ignore_RTL_mode_change and self.mode_is('RTL', cached=True)) or
                    (ignore_MANUAL_mode_change and self.mode_is('MANUAL', cached=True))
                )
                if not ignore_mode_change:
                    new_mode_str = self.get_mode_string_for_mode(self.get_mode())
                    raise WaitWaypointTimeout(f'Exited {mode} mode to {new_mode_str} ignore={ignore_RTL_mode_change}')

            if self.get_sim_time_cached() - last_wp_msg > 1:
                self.progress("WP %u (wp_dist=%u Alt=%.02f), current_wp: %u,"
                              "wpnum_end: %u" %
                              (seq, wp_dist, m.alt, current_wp, wpnum_end))
                last_wp_msg = self.get_sim_time_cached()
            if seq == current_wp+1 or (seq > current_wp+1 and allow_skip):
                self.progress("WW: Starting new waypoint %u" % seq)
                tstart = self.get_sim_time()
                current_wp = seq
                # the wp_dist check is a hack until we can sort out
                # the right seqnum for end of mission
            # if current_wp == wpnum_end or (current_wp == wpnum_end-1 and
            #                                wp_dist < 2):
            if current_wp == wpnum_end and wp_dist < max_dist:
                self.progress("Reached final waypoint %u" % seq)
                return True
            if seq >= 255:
                self.progress("Reached final waypoint %u" % seq)
                return True
            if seq > current_wp+1:
                raise WaitWaypointTimeout(("Skipped waypoint! Got wp %u expected %u"
                                           % (seq, current_wp+1)))
        raise WaitWaypointTimeout("Timed out waiting for waypoint %u of %u" %
                                  (wpnum_end, wpnum_end))

    def get_cached_message(self, message_type):
        '''returns the most-recently received instance of message_type'''
        return self.mav.messages[message_type]

    def mode_is(self, mode, cached=False, drain_mav=True, drain_mav_quietly=True):
        if not cached:
            self.wait_heartbeat(drain_mav=drain_mav, quiet=drain_mav_quietly)
        return self.mav.messages['HEARTBEAT'].custom_mode == self.get_mode_from_mode_mapping(mode)

    def wait_mode(self, mode, timeout=60):
        """Wait for mode to change."""
        self.progress("Waiting for mode %s" % mode)
        tstart = self.get_sim_time()
        while not self.mode_is(mode, drain_mav=False):
            custom_num = self.mav.messages['HEARTBEAT'].custom_mode
            self.progress("mav.flightmode=%s Want=%s custom=%u" % (
                self.mav.flightmode, mode, custom_num))
            if (timeout is not None and
                    self.get_sim_time_cached() > tstart + timeout):
                raise WaitModeTimeout("Did not change mode")
        self.progress("Got mode %s" % mode)

    def assert_mode_is(self, mode):
        if not self.mode_is(mode):
            raise NotAchievedException("Expected mode %s" % str(mode))

    def get_mode(self, cached=False, drain_mav=True):
        '''return numeric custom mode'''
        if not cached:
            self.wait_heartbeat(drain_mav=drain_mav)
        return self.mav.messages['HEARTBEAT'].custom_mode

    def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30):
        self.progress("Waiting for GPS health")
        tstart = self.get_sim_time()
        while True:
            now = self.get_sim_time_cached()
            if now - tstart > timeout:
                raise AutoTestTimeoutException("GPS status bits did not become good")
            m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1)
            if m is None:
                continue
            if (not (m.onboard_control_sensors_present & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
                self.progress("GPS not present")
                if now > 20:
                    # it's had long enough to be detected....
                    return
                continue
            if (not (m.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
                self.progress("GPS not enabled")
                continue
            if (not (m.onboard_control_sensors_health & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
                self.progress("GPS not healthy")
                continue
            self.progress("GPS healthy after %f/%f seconds" %
                          ((now - tstart), timeout))
            return

    def assert_sensor_state(self, sensor, present=True, enabled=True, healthy=True, verbose=False):
        return self.sensor_has_state(sensor, present, enabled, healthy, do_assert=True, verbose=verbose)

    def sensor_has_state(self, sensor, present=True, enabled=True, healthy=True, do_assert=False, verbose=False):
        m = self.assert_receive_message('SYS_STATUS', timeout=5, very_verbose=verbose)
        reported_present = m.onboard_control_sensors_present & sensor
        reported_enabled = m.onboard_control_sensors_enabled & sensor
        reported_healthy = m.onboard_control_sensors_health & sensor
        if present:
            if not reported_present:
                if do_assert:
                    raise NotAchievedException("Sensor not present")
                return False
        else:
            if reported_present:
                if do_assert:
                    raise NotAchievedException("Sensor present when it shouldn't be")
                return False

        if enabled:
            if not reported_enabled:
                if do_assert:
                    raise NotAchievedException("Sensor not enabled")
                return False
        else:
            if reported_enabled:
                if do_assert:
                    raise NotAchievedException("Sensor enabled when it shouldn't be")
                return False

        if healthy:
            if not reported_healthy:
                if do_assert:
                    raise NotAchievedException("Sensor not healthy")
                return False
        else:
            if reported_healthy:
                if do_assert:
                    raise NotAchievedException("Sensor healthy when it shouldn't be")
                return False
        return True

    def wait_sensor_state(self, sensor, present=True, enabled=True, healthy=True, timeout=5, verbose=False):
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("Sensor did not achieve state")
            if self.sensor_has_state(sensor, present=present, enabled=enabled, healthy=healthy, verbose=verbose):
                break

    def wait_not_ready_to_arm(self):
        self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, False)

    def wait_prearm_sys_status_healthy(self, timeout=60):
        self.do_timesync_roundtrip()
        tstart = self.get_sim_time()
        while True:
            t2 = self.get_sim_time_cached()
            if t2 - tstart > timeout:
                self.progress("Prearm bit never went true.  Attempting arm to elicit reason from autopilot")
                try:
                    self.arm_vehicle()
                except Exception:
                    pass
                raise AutoTestTimeoutException("Prearm bit never went true")
            if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, True):
                break

    def assert_fence_enabled(self, timeout=2):
        # Check fence is enabled
        m = self.assert_receive_message('FENCE_STATUS', timeout=timeout)
        self.progress("Got (%s)" % str(m))

    def assert_fence_disabled(self, timeout=2):
        # Check fence is not enabled
        self.assert_not_receiving_message('FENCE_STATUS', timeout=timeout)

    def NoArmWithoutMissionItems(self):
        '''ensure we can't arm in auto mode without mission items present'''
        # load a trivial mission
        items = []
        items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, 20000),)
        items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
        self.upload_simple_relhome_mission(items)

        self.change_mode('AUTO')
        self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
        self.assert_prearm_failure('Mode requires mission',
                                   other_prearm_failures_fatal=False)

    def assert_prearm_failure(self,
                              expected_statustext,
                              timeout=5,
                              ignore_prearm_failures: list | None = None,
                              other_prearm_failures_fatal=True):
        if ignore_prearm_failures is None:
            ignore_prearm_failures = []

        seen_statustext = False
        seen_command_ack = False

        self.drain_mav()
        tstart = self.get_sim_time_cached()
        arm_last_send = 0
        while True:
            if seen_command_ack and seen_statustext:
                break
            now = self.get_sim_time_cached()
            if now - tstart > timeout:
                raise NotAchievedException(
                    f"Did not see failure-to-arm messages ({seen_statustext=} {expected_statustext=} {seen_command_ack=})"
                )
            if now - arm_last_send > 1:
                arm_last_send = now
                self.send_mavlink_run_prearms_command()
            m = self.mav.recv_match(blocking=True, timeout=1)
            if m is None:
                continue
            if m.get_type() == "STATUSTEXT":
                if expected_statustext in m.text:
                    self.progress("Got: %s" % str(m))
                    seen_statustext = True
                elif other_prearm_failures_fatal and "PreArm" in m.text and m.text[8:] not in ignore_prearm_failures:
                    self.progress("Got: %s" % str(m))
                    raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)

            if m.get_type() == "COMMAND_ACK":
                print("Got: %s" % str(m))
                if m.command == mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS:
                    if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
                        raise NotAchievedException("command-ack says we didn't run prearms")
                    self.progress("Got: %s" % str(m))
                    seen_command_ack = True
            if self.mav.motors_armed():
                raise NotAchievedException("Armed when we shouldn't have")

    def assert_arm_failure(self, expected_statustext, timeout=5, ignore_prearm_failures: list = None):
        if ignore_prearm_failures is None:
            ignore_prearm_failures = []
        seen_statustext = False
        seen_command_ack = False

        self.drain_mav()
        tstart = self.get_sim_time_cached()
        arm_last_send = 0
        while True:
            if seen_command_ack and seen_statustext:
                break
            now = self.get_sim_time_cached()
            if now - tstart > timeout:
                raise NotAchievedException(
                    "Did not see failure-to-arm messages (statustext=%s command_ack=%s" %
                    (seen_statustext, seen_command_ack))
            if now - arm_last_send > 1:
                arm_last_send = now
                self.send_mavlink_arm_command()
            m = self.mav.recv_match(blocking=True, timeout=1)
            if m is None:
                continue
            if m.get_type() == "STATUSTEXT":
                if expected_statustext in m.text:
                    self.progress("Got: %s" % str(m))
                    seen_statustext = True
                elif "PreArm" in m.text and m.text[8:] not in ignore_prearm_failures:
                    self.progress("Got: %s" % str(m))
                    raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)

            if m.get_type() == "COMMAND_ACK":
                print("Got: %s" % str(m))
                if m.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
                    if m.result != 4:
                        raise NotAchievedException("command-ack says we didn't fail to arm")
                    self.progress("Got: %s" % str(m))
                    seen_command_ack = True
            if self.mav.motors_armed():
                raise NotAchievedException("Armed when we shouldn't have")

    def wait_ready_to_arm(self, timeout=120, require_absolute=True, check_prearm_bit=True):
        # wait for EKF checks to pass
        self.progress("Waiting for ready to arm")
        start = self.get_sim_time()
        self.wait_ekf_happy(timeout=timeout, require_absolute=require_absolute)
        if require_absolute:
            self.wait_gps_sys_status_not_present_or_enabled_and_healthy()
        if require_absolute:
            self.poll_home_position()
        if check_prearm_bit:
            self.wait_prearm_sys_status_healthy(timeout=timeout)
        armable_time = self.get_sim_time() - start
        self.progress("Took %u seconds to become armable" % armable_time)
        self.total_waiting_to_arm_time += armable_time
        self.waiting_to_arm_count += 1

    def wait_heartbeat(self, drain_mav=True, quiet=False, *args, **x):
        '''as opposed to mav.wait_heartbeat, raises an exception on timeout.
Also, ignores heartbeats not from our target system'''
        if drain_mav:
            self.drain_mav(quiet=quiet)
        orig_timeout = x.get("timeout", 20)
        x["timeout"] = 1
        tstart = time.time()
        while True:
            if time.time() - tstart > orig_timeout and not self.gdb:
                if not self.sitl_is_running():
                    self.progress("SITL is not running")
                raise AutoTestTimeoutException("Did not receive heartbeat")
            m = self.mav.wait_heartbeat(*args, **x)
            if m is None:
                continue
            if m.get_srcSystem() == self.sysid_thismav():
                return m

    def wait_ekf_happy(self, require_absolute=True, **kwargs):
        """Wait for EKF to be happy"""
        if "timeout" not in kwargs:
            kwargs["timeout"] = 45

        """ if using SITL estimates directly """
        if (int(self.get_parameter('AHRS_EKF_TYPE')) == 10):
            return True

        # all of these must be set for arming to happen:
        required_value = (mavutil.mavlink.EKF_ATTITUDE |
                          mavutil.mavlink.ESTIMATOR_VELOCITY_HORIZ |
                          mavutil.mavlink.ESTIMATOR_VELOCITY_VERT |
                          mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL |
                          mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL)
        # none of these bits must be set for arming to happen:
        error_bits = (mavutil.mavlink.ESTIMATOR_CONST_POS_MODE |
                      mavutil.mavlink.ESTIMATOR_ACCEL_ERROR)
        if require_absolute:
            required_value |= (mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS |
                               mavutil.mavlink.ESTIMATOR_POS_VERT_ABS |
                               mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_ABS)
            error_bits |= mavutil.mavlink.ESTIMATOR_GPS_GLITCH
        WaitAndMaintainEKFFlags(self, required_value, error_bits, **kwargs).run()

    def wait_ekf_flags(self, required_value, error_bits, **kwargs):
        WaitAndMaintainEKFFlags(self, required_value, error_bits, **kwargs).run()

    def wait_gps_disable(self, position_horizontal=True, position_vertical=False, timeout=30):
        """Disable GPS and wait for EKF to report the end of assistance from GPS."""
        self.set_parameter("SIM_GPS1_ENABLE", 0)
        tstart = self.get_sim_time()

        """ if using SITL estimates directly """
        if (int(self.get_parameter('AHRS_EKF_TYPE')) == 10):
            self.progress("GPS disable skipped")
            return

        # all of these must NOT be set for arming NOT to happen:
        not_required_value = 0
        if position_horizontal:
            not_required_value |= mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL
        if position_vertical:
            not_required_value |= mavutil.mavlink.ESTIMATOR_POS_VERT_AGL
        self.progress("Waiting for EKF not having bits %u" % not_required_value)
        last_print_time = 0
        while timeout is None or self.get_sim_time_cached() < tstart + timeout:
            esr = self.assert_receive_message('EKF_STATUS_REPORT', timeout=timeout)
            current = esr.flags
            if self.get_sim_time_cached() - last_print_time > 1:
                self.progress("Wait EKF.flags: not required:%u current:%u" %
                              (not_required_value, current))
                last_print_time = self.get_sim_time_cached()
            if current & not_required_value != not_required_value:
                self.progress("GPS disable OK")
                return
        self.progress(f"Last EKF_STATUS_REPORT: {esr}")
        raise AutoTestTimeoutException("Failed to get EKF.flags=%u disabled" % not_required_value)

    def wait_text(self, *args, **kwargs):
        '''wait for text to appear from vehicle, return that text'''
        statustext = self.wait_statustext(*args, **kwargs)
        if statustext is None:
            return None
        return statustext.text

    def statustext_in_collections(self, text, regex=False):
        '''searches for text in STATUSTEXT collection, returns message if found'''
        c = self.context_get()
        if "STATUSTEXT" not in c.collections:
            raise NotAchievedException("Asked to check context but it isn't collecting!")
        for x in c.collections["STATUSTEXT"]:
            self.progress("  statustext got=(%s) want=(%s)" % (x.text, text))
            if regex:
                if re.match(text, x.text):
                    return x
            elif text.lower() in x.text.lower():
                return x
        return None

    def wait_statustext(self, text, timeout=20, the_function=None, check_context=False, regex=False, wallclock_timeout=False):
        """Wait for a specific STATUSTEXT, return that statustext message"""

        # Statustexts are often triggered by something we've just
        # done, so we have to be careful not to read any traffic that
        # isn't checked for being our statustext.  That doesn't work
        # well with getting the current simulation time (which requires
        # a new SYSTEM_TIME message), so we install a message hook
        # which checks all incoming messages.
        self.progress("Waiting for text : %s" % text.lower())
        if check_context:
            statustext = self.statustext_in_collections(text, regex=regex)
            if statustext:
                self.progress("Found expected text in collection: %s" % text.lower())
                return statustext

        global statustext_found
        global statustext_full
        statustext_full = None
        statustext_found = False

        def mh(mav, m):
            global statustext_found
            global statustext_full
            if m.get_type() != "STATUSTEXT":
                return
            if regex:
                self.re_match = re.match(text, m.text)
                if self.re_match:
                    statustext_found = True
                    statustext_full = m
            if text.lower() in m.text.lower():
                self.progress("Received expected text: %s" % m.text.lower())
                statustext_found = True
                statustext_full = m

        self.install_message_hook(mh)
        if wallclock_timeout:
            tstart = time.time()
        else:
            tstart = self.get_sim_time()
        try:
            while not statustext_found:
                if wallclock_timeout:
                    now = time.time()
                else:
                    now = self.get_sim_time_cached()
                if now - tstart > timeout:
                    raise AutoTestTimeoutException("Failed to receive text: %s" %
                                                   text.lower())
                if the_function is not None:
                    the_function()
                self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=0.1)
        finally:
            self.remove_message_hook(mh)
        return statustext_full

    # routines helpful for testing LUA scripting:
    def script_example_source_path(self, scriptname):
        return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "examples", scriptname)

    def script_test_source_path(self, scriptname):
        return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "tests", scriptname)

    def script_applet_source_path(self, scriptname):
        return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "applets", scriptname)

    def script_modules_source_path(self, scriptname):
        return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "modules", scriptname)

    def installed_script_path(self, scriptname):
        return os.path.join("scripts", os.path.basename(scriptname))

    def install_script(self, source, scriptname, install_name=None):
        if install_name is not None:
            dest = self.installed_script_path(install_name)
        else:
            dest = self.installed_script_path(scriptname)

        destdir = os.path.dirname(dest)
        if not os.path.exists(destdir):
            os.mkdir(destdir)
        self.progress("Copying (%s) to (%s)" % (source, dest))
        shutil.copy(source, dest)

    def installed_script_module_path(self, modulename):
        return os.path.join("scripts", "modules", os.path.basename(modulename))

    def install_script_module(self, source, modulename, install_name=None):
        if install_name is not None:
            dest = self.installed_script_module_path(install_name)
        else:
            dest = self.installed_script_module_path(modulename)

        destdir = os.path.dirname(dest)
        os.makedirs(destdir, exist_ok=True)
        self.progress("Copying (%s) to (%s)" % (source, dest))
        shutil.copy(source, dest)

    def install_test_modules(self):
        source = os.path.join(self.rootdir(), "libraries", "AP_Scripting", "tests", "modules", "test")
        dest = os.path.join("scripts", "modules", "test")
        self.progress("Copying (%s) to (%s)" % (source, dest))
        shutil.copytree(source, dest)

    def install_mavlink_module(self):
        dest = os.path.join("scripts", "modules", "mavlink")
        ardupilotmega_xml = os.path.join(self.rootdir(), "modules", "mavlink",
                                         "message_definitions", "v1.0", "ardupilotmega.xml")
        mavgen.mavgen(mavgen.Opts(output=dest, wire_protocol='2.0', language='Lua'), [ardupilotmega_xml])
        self.progress("Installed mavlink module")

    def install_script_content(self, scriptname, content):
        dest = self.installed_script_path(scriptname)
        destdir = os.path.dirname(dest)
        if not os.path.exists(destdir):
            os.mkdir(destdir)
        destPath = pathlib.Path(dest)
        destPath.write_text(content)

    def install_example_script(self, scriptname):
        source = self.script_example_source_path(scriptname)
        self.install_script(source, scriptname)

    def install_test_script(self, scriptname):
        source = self.script_test_source_path(scriptname)
        self.install_script(source, scriptname)

    def install_applet_script(self, scriptname, install_name=None):
        source = self.script_applet_source_path(scriptname)
        self.install_script(source, scriptname, install_name=install_name)

    def remove_installed_script(self, scriptname):
        dest = self.installed_script_path(os.path.basename(scriptname))
        try:
            os.unlink(dest)
        except IOError:
            pass
        except OSError:
            pass

    def remove_installed_script_module(self, modulename):
        path = self.installed_script_module_path(modulename)
        os.unlink(path)

    def remove_installed_modules(self, modulename):
        dest = os.path.join("scripts", "modules", modulename)
        try:
            shutil.rmtree(dest)
        except IOError:
            pass
        except OSError:
            pass

    def get_mavlink_connection_going(self):
        # get a mavlink connection going
        try:
            retries = 20
            if self.gdb:
                retries = 20000
            self.mav = mavutil.mavlink_connection(
                self.autotest_connection_string_to_ardupilot(),
                retries=retries,
                robust_parsing=True,
                source_system=250,
                source_component=250,
                autoreconnect=True,
                dialect="all",  # if we don't pass this in we end up with the wrong mavlink version...
            )
        except Exception as msg:
            self.progress("Failed to start mavlink connection on %s: %s" %
                          (self.autotest_connection_string_to_ardupilot(), msg,))
            raise
        self.mav.message_hooks.append(self.message_hook)
        self.mav.mav.set_send_callback(self.send_message_hook, self)
        self.mav.idle_hooks.append(self.idle_hook)

        # we need to wait for a heartbeat here.  If we don't then
        # self.mav.target_system will be zero because it hasn't
        # "locked on" to a target system yet.
        self.wait_heartbeat()
        self.set_streamrate(self.sitl_streamrate())

    def show_test_timings_key_sorter(self, t):
        (k, v) = t
        return ((v, k))

    def show_test_timings(self):
        if len(self.test_timings.keys()) == 0:
            return
        longest = 0
        for desc in self.test_timings.keys():
            if len(desc) > longest:
                longest = len(desc)
        tests_total_time = 0
        for desc, test_time in sorted(self.test_timings.items(),
                                      key=self.show_test_timings_key_sorter):
            fmt = "%" + str(longest) + "s: %.2fs"
            tests_total_time += test_time
            self.progress(fmt % (desc, test_time))
        self.progress(fmt % ("**--tests_total_time--**", tests_total_time))
        self.progress("mavproxy_start was called %u times" %
                      (self.start_mavproxy_count,))
        self.progress("Supplied terrain data to autopilot in %u messages" %
                      (self.terrain_data_messages_sent,))

    def send_statustext(self, text):
        if not isinstance(text, bytes):
            text = bytes(text, "ascii")
        seq = 0
        while len(text):
            self.mav.mav.statustext_send(mavutil.mavlink.MAV_SEVERITY_WARNING, text[:50], id=self.statustext_id, chunk_seq=seq)
            text = text[50:]
            seq += 1
        self.statustext_id += 1
        if self.statustext_id > 255:
            self.statustext_id = 1

    def get_stacktrace(self):
        return ''.join(traceback.format_stack())

    def get_exception_stacktrace(self, e):
        ret = "%s\n" % e
        ret += ''.join(traceback.format_exception(type(e),
                                                  e,
                                                  tb=e.__traceback__))
        return ret

    def bin_logs(self):
        return glob.glob("logs/*.BIN")

    def remove_bin_logs(self):
        util.run_cmd('rm -f logs/*.BIN logs/LASTLOG.TXT')

    def remove_ardupilot_terrain_cache(self):
        '''removes the terrain files ArduPilot keeps in its onboiard storage'''
        util.run_cmd('rm -f %s' % util.reltopdir("terrain/*.DAT"))

    def check_logs(self, name, bin_logs=None):
        '''called to move relevant log files from our working directory to the
        buildlogs directory'''
        if not self.move_logs_on_test_failure:
            return
        to_dir = self.logs_dir
        # move telemetry log files
        for log in glob.glob("autotest-*.tlog"):
            bname = os.path.basename(log)
            newname = os.path.join(to_dir, "%s-%s-%s" % (self.log_name(), name, bname))
            print("Renaming %s to %s" % (log, newname))
            shutil.move(log, newname)
        # move binary log files
        if bin_logs is None:
            bin_logs = self.bin_logs()
        for log in sorted(bin_logs):
            bname = os.path.basename(log)
            newname = os.path.join(to_dir, "%s-%s-%s" % (self.log_name(), name, bname))
            print("Renaming %s to %s" % (log, newname))
            shutil.move(log, newname)
        # move core files
        save_binaries = False
        corefiles = []
        corefiles.extend(glob.glob("core*"))
        corefiles.extend(glob.glob("ap-*.core"))
        for log in sorted(corefiles):
            bname = os.path.basename(log)
            newname = os.path.join(to_dir, "%s-%s-%s" % (bname, self.log_name(), name))
            print("Renaming %s to %s" % (log, newname))
            shutil.move(log, newname)
            save_binaries = True
        if save_binaries:
            util.run_cmd('/bin/cp build/sitl/bin/* %s' % to_dir,
                         directory=util.reltopdir('.'))

    def run_one_test(self, test, interact=False, suppress_stdout=False):
        '''new-style run-one-test used by run_tests'''
        for i in range(0, test.attempts-1):
            result = self.run_one_test_attempt(test, interact=interact, attempt=i+2, suppress_stdout=suppress_stdout)
            if result.passed:
                return result
            self.progress("Run attempt failed.  Retrying")
        return self.run_one_test_attempt(test, interact=interact, attempt=1, suppress_stdout=suppress_stdout)

    def print_exception_caught(self, e, send_statustext=True):
        self.progress("Exception caught: %s" %
                      self.get_exception_stacktrace(e))
        path = None
        try:
            path = self.current_onboard_log_filepath()
        except IndexError:
            pass
        self.progress("Most recent logfile: %s" % (path, ), send_statustext=send_statustext)

    def progress_file_content(self, filepath):
        with open(filepath) as f:
            for line in f:
                self.progress(line.rstrip())

    def dump_process_status(self, result):
        '''used to show where the SITL process is upto.  Often caused when
        we've lost contact'''

        if self.sitl.isalive():
            self.progress("pexpect says it is alive")
            for tool in "dumpstack.sh", "dumpcore.sh":
                tool_filepath = os.path.join(self.rootdir(), 'Tools', 'scripts', tool)
                if util.run_cmd([tool_filepath, str(self.sitl.pid)]) != 0:
                    reason = "Failed %s" % (tool,)
                    self.progress(reason)
                    result.reason = reason
                    result.passed = False
        else:
            self.progress("pexpect says it is dead")

        # try dumping the process status file for more information:
        status_filepath = "/proc/%u/status" % self.sitl.pid
        self.progress("Checking for status filepath (%s)" % status_filepath)
        if os.path.exists(status_filepath):
            self.progress_file_content(status_filepath)
        else:
            self.progress("... does not exist")

    def run_one_test_attempt(self, test, interact=False, attempt=1, suppress_stdout=False):
        '''called by run_one_test to actually run the test in a retry loop'''
        name = test.name
        desc = test.description
        test_function = test.function
        test_kwargs = test.kwargs
        if attempt != 1:
            self.progress("RETRYING %s" % name)
            test_output_filename = self.buildlogs_path("%s-%s-retry-%u.txt" %
                                                       (self.log_name(), name, attempt-1))
        else:
            test_output_filename = self.buildlogs_path("%s-%s.txt" %
                                                       (self.log_name(), name))

        tee = TeeBoth(test_output_filename, 'w', self.mavproxy_logfile, suppress_stdout=suppress_stdout)

        start_message_hooks = copy.copy(self.message_hooks)

        prettyname = "%s (%s)" % (name, desc)
        self.start_test(prettyname)
        self.set_current_test_name(name)
        old_contexts_length = len(self.contexts)
        self.context_push()

        start_time = time.time()

        orig_speedup = None

        hooks_removed = False

        ex = None
        try:
            self.check_rc_defaults()
            self.change_mode(self.default_mode())
            # ArduPilot can still move the current waypoint from 0,
            # even if we are not in AUTO mode, so cehck_afterwards=False:
            self.set_current_waypoint(0, check_afterwards=False)
            self.drain_mav()
            self.drain_all_pexpects()
            if test.speedup is not None:
                self.progress("Overriding speedup to %u" % test.speedup)
                orig_speedup = self.get_parameter("SIM_SPEEDUP")
                self.set_parameter("SIM_SPEEDUP", test.speedup)

            test_function(**test_kwargs)
        except Exception as e:
            self.print_exception_caught(e)
            ex = e
            # reset the message hooks; we've failed-via-exception and
            # can't expect the hooks to have been cleaned up
            for h in copy.copy(self.message_hooks):
                if h not in start_message_hooks:
                    self.message_hooks.remove(h)
            hooks_removed = True
        self.test_timings[desc] = time.time() - start_time
        reset_needed = self.contexts[-1].sitl_commandline_customised

        if orig_speedup is not None:
            self.set_parameter("SIM_SPEEDUP", orig_speedup)

        passed = True
        if ex is not None:
            passed = False

        result = Result(test)
        result.time_elapsed = self.test_timings[desc]

        ardupilot_alive = False
        try:
            self.wait_heartbeat()
            ardupilot_alive = True
        except Exception:
            # process is dead
            self.progress("No heartbeat after test", send_statustext=False)
            self.dump_process_status(result)

            passed = False
            reset_needed = True

        try:
            self.context_pop(process_interaction_allowed=ardupilot_alive, hooks_already_removed=hooks_removed)
        except Exception as e:
            self.print_exception_caught(e, send_statustext=False)
            passed = False

        pre_reboot_bin_logs = self.bin_logs()

        # if we haven't already reset ArduPilot because it's dead,
        # then ensure the vehicle was disarmed at the end of the test.
        # If it wasn't then the test is considered failed:
        if ardupilot_alive and self.armed() and not self.is_tracker():
            if ex is None:
                ex = ArmedAtEndOfTestException("Still armed at end of test")
            self.progress("Armed at end of test; force-rebooting SITL")
            self.set_rc_default()  # otherwise we might start calibrating ESCs...
            try:
                self.disarm_vehicle(force=True)
            except AutoTestTimeoutException:
                reset_needed = True
            self.forced_post_test_sitl_reboots += 1
            if reset_needed:
                self.progress("Force-resetting SITL")
                self.reset_SITL_commandline()
            else:
                self.progress("Force-rebooting SITL")
                self.zero_throttle()
                self.reboot_sitl(startup_location_dist_max=1000000) # that'll learn it
            passed = False
        elif ardupilot_alive and not passed:  # implicit reboot after a failed test:
            self.progress("Test failed but ArduPilot process alive; rebooting")
            self.reboot_sitl() # that'll learn it

        if self._mavproxy is not None:
            self.progress("Stopping auto-started mavproxy")
            if self.use_map:
                self.mavproxy.send("module unload map\n")
                self.mavproxy.expect("Unloaded module map")

            self.expect_list_remove(self._mavproxy)
            util.pexpect_close(self._mavproxy)
            self._mavproxy = None

        corefiles = []
        corefiles.extend(glob.glob("core*"))
        corefiles.extend(glob.glob("ap-*.core"))
        if corefiles:
            self.progress('Corefiles detected: %s' % str(corefiles))
            passed = False

        if len(self.contexts) != old_contexts_length:
            self.progress("context count mismatch (want=%u got=%u); popping extras" %
                          (old_contexts_length, len(self.contexts)))
            passed = False
            # pop off old contexts to clean up message hooks etc
            while len(self.contexts) > old_contexts_length:
                try:
                    self.context_pop(process_interaction_allowed=ardupilot_alive, hooks_already_removed=hooks_removed)
                except Exception as e:
                    self.print_exception_caught(e, send_statustext=False)
            self.progress("Done popping extra contexts")

        # make sure we don't leave around stray listeners:
        if len(self.message_hooks) != len(start_message_hooks):
            self.progress("Stray message listeners: %s vs start %s" %
                          (str(self.message_hooks), str(start_message_hooks)))
            passed = False

        if passed:
#            self.remove_bin_logs() # can't do this as one of the binlogs is probably open for writing by the SITL process.  If we force a rotate before running tests then we can do this.  # noqa
            pass
        else:
            if self.logs_dir is not None:
                # stash the binary logs and corefiles away for later analysis
                self.check_logs(name, bin_logs=pre_reboot_bin_logs)

        if passed:
            self.progress('PASSED: "%s"' % prettyname)
        else:
            self.progress('FAILED: "%s": %s (see %s)' %
                          (prettyname, repr(ex), test_output_filename))
            result.exception = ex
            result.debug_filename = test_output_filename
            if interact:
                self.progress("Starting MAVProxy interaction as directed")
                self.mavproxy.interact()

        if self.reset_after_every_test:
            reset_needed = True

        if reset_needed:
            self.reset_SITL_commandline()

        if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling
            self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
            self.set_current_waypoint(0, check_afterwards=False)

        tee.close()

        result.passed = passed
        return result

    def defaults_filepath(self):
        return None

    def start_mavproxy(self, sitl_rcin_port=None, master=None, options=None):
        self.start_mavproxy_count += 1
        if self.mavproxy is not None:
            return self.mavproxy
        self.progress("Starting MAVProxy")

        # determine a good pexpect timeout for reading MAVProxy's
        # output; some regmes may require longer timeouts.
        pexpect_timeout = 60
        if self.valgrind or self.callgrind:
            pexpect_timeout *= 10

        if sitl_rcin_port is None:
            sitl_rcin_port = self.sitl_rcin_port()

        if master is None:
            master = 'tcp:127.0.0.1:%u' % self.adjust_ardupilot_port(5762)

        if options is None:
            options = self.mavproxy_options()
        else:
            op = self.mavproxy_options().copy()
            op.extend(options)
            options = op

        mavproxy = util.start_MAVProxy_SITL(
            self.vehicleinfo_key(),
            master=master,
            logfile=self.mavproxy_logfile,
            options=options,
            pexpect_timeout=pexpect_timeout,
            sitl_rcin_port=sitl_rcin_port,
        )
        mavproxy.expect(r'Telemetry log: (\S+)\r\n')
        self.logfile = mavproxy.match.group(1)
        self.progress("LOGFILE %s" % self.logfile)
        self.try_symlink_tlog()

        self.expect_list_add(mavproxy)
        util.expect_setup_callback(mavproxy, self.expect_callback)
        self._mavproxy = mavproxy  # so we can clean up after tests....
        return mavproxy

    def stop_mavproxy(self, mavproxy):
        if self.mavproxy is not None:
            return
        self.progress("Stopping MAVProxy")
        self.expect_list_remove(mavproxy)
        util.pexpect_close(mavproxy)
        self._mavproxy = None

    def start_SITL(self, binary=None, sitl_home=None, **sitl_args):
        if sitl_home is None:
            sitl_home = self.sitl_home()
        start_sitl_args = {
            "breakpoints": self.breakpoints,
            "disable_breakpoints": self.disable_breakpoints,
            "gdb": self.gdb,
            "gdb_no_tui": self.gdb_no_tui,
            "gdbserver": self.gdbserver,
            "lldb": self.lldb,
            "strace": self.strace,
            "home": sitl_home,
            "speedup": self.speedup,
            "valgrind": self.valgrind,
            "callgrind": self.callgrind,
            "wipe": True,
            "enable_fgview": self.enable_fgview,
        }
        start_sitl_args.update(**sitl_args)
        if ("defaults_filepath" not in start_sitl_args or
                start_sitl_args["defaults_filepath"] is None):
            start_sitl_args["defaults_filepath"] = self.defaults_filepath()

        if "model" not in start_sitl_args or start_sitl_args["model"] is None:
            start_sitl_args["model"] = self.frame
        self.progress("Starting SITL", send_statustext=False)
        if binary is None:
            binary = self.binary
        self.sitl = util.start_SITL(binary, **start_sitl_args)
        self.expect_list_add(self.sitl)
        self.sup_prog = []
        count = 0
        for sup_binary in self.sup_binaries:
            self.progress("Starting Supplementary Program ", sup_binary)
            start_sitl_args["customisations"] = [sup_binary['customisation']]
            start_sitl_args["supplementary"] = True
            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

        # mavlink will have disconnected here.  Explicitly reconnect,
        # or the first packet we send will be lost:
        if self.mav is not None:
            self.mav.reconnect()

    def get_supplementary_programs(self):
        return self.sup_prog

    def stop_sup_program(self, instance=None):
        self.progress("Stopping supplementary program")
        if instance is None:
            # close all sup programs
            for prog in self.sup_prog:
                self.expect_list_remove(prog)
                self.sup_prog.remove(prog)
                util.pexpect_close(prog)
        else:
            # close only the instance passed
            prog = self.sup_prog[instance]
            self.expect_list_remove(prog)
            self.sup_prog[instance] = None
            util.pexpect_close(prog)

    def start_sup_program(self, instance=None, args=None):
        self.progress("Starting supplementary program")
        start_sitl_args = {
            "breakpoints": self.breakpoints,
            "disable_breakpoints": self.disable_breakpoints,
            "gdb": self.gdb,
            "gdb_no_tui": self.gdb_no_tui,
            "gdbserver": self.gdbserver,
            "lldb": self.lldb,
            "strace": self.strace,
            "home": self.sitl_home(),
            "speedup": self.speedup,
            "valgrind": self.valgrind,
            "callgrind": self.callgrind,
            "wipe": True,
        }
        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"] = [sup_binary['customisation'], args]
            start_sitl_args["supplementary"] = True
            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):
        if self.sitl is None:
            return False
        return self.sitl.isalive()

    def autostart_mavproxy(self):
        return self.use_map

    def init(self):
        """Initialize autotest feature."""
        self.mavproxy_logfile = self.open_mavproxy_logfile()

        if self.frame is None:
            self.frame = self.default_frame()

        if self.frame is None:
            raise ValueError("frame must not be None")

        self.progress("Starting simulator")
        self.start_SITL()

        os.environ['MAVLINK20'] = '1'

        self.progress("Starting MAVLink connection")
        self.get_mavlink_connection_going()

        if self.autostart_mavproxy():
            self.mavproxy = self.start_mavproxy()

        self.expect_list_clear()
        self.expect_list_extend([self.sitl, self.mavproxy])
        self.expect_list_extend(self.sup_prog)

        # need to wait for a heartbeat to arrive as then mavutil will
        # select the correct set of messages for us to receive in
        # self.mav.messages.  You can actually receive messages with
        # recv_match and those will not be in self.mav.messages until
        # you do this!
        self.wait_heartbeat()
        self.get_autopilot_firmware_version()
        self.progress("Sim time: %f" % (self.get_sim_time(),))
        self.apply_default_parameters()

        if not self.sitl_is_running():
            # we run this just to make sure exceptions are likely to
            # work OK.
            raise NotAchievedException("SITL is not running")
        self.progress("SITL is running")

        self.progress("Ready to start testing!")

    def upload_using_mission_protocol(self, mission_type, items):
        '''mavlink2 required'''
        target_system = 1
        target_component = 1
        self.do_timesync_roundtrip()
        tstart = self.get_sim_time()
        self.mav.mav.mission_count_send(target_system,
                                        target_component,
                                        len(items),
                                        mission_type)
        remaining_to_send = set(range(0, len(items)))
        sent = set()
        timeout = (10 + len(items)/10.0)
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("timeout uploading %s" % str(mission_type))
            if len(remaining_to_send) == 0:
                self.progress("All sent")
                break
            m = self.mav.recv_match(type=['MISSION_REQUEST', 'MISSION_ACK'],
                                    blocking=True,
                                    timeout=1)
            if m is None:
                continue

            if m.get_type() == 'MISSION_ACK':
                if (m.target_system == 255 and
                        m.target_component == 0 and
                        m.type == 1 and
                        m.mission_type == 0):
                    # this is just MAVProxy trying to screw us up
                    continue
                raise NotAchievedException(f"Received unexpected mission ack {self.dump_message_verbose(m)}")

            self.progress("Handling request for item %u/%u" % (m.seq, len(items)-1))
            self.progress("Item (%s)" % str(items[m.seq]))
            if m.seq in sent:
                self.progress("received duplicate request for item %u" % m.seq)
                continue

            if m.seq not in remaining_to_send:
                raise NotAchievedException("received request for unknown item %u" % m.seq)

            if m.mission_type != mission_type:
                raise NotAchievedException("received request for item from wrong mission type")

            if items[m.seq].mission_type != mission_type:
                raise NotAchievedException(f"supplied item not of correct mission type (want={mission_type} got={items[m.seq].mission_type}")  # noqa:501
            if items[m.seq].target_system != target_system:
                raise NotAchievedException("supplied item not of correct target system")
            if items[m.seq].target_component != target_component:
                raise NotAchievedException("supplied item not of correct target component")
            if items[m.seq].seq != m.seq:
                raise NotAchievedException("supplied item has incorrect sequence number (%u vs %u)" %
                                           (items[m.seq].seq, m.seq))

            items[m.seq].pack(self.mav.mav)
            self.mav.mav.send(items[m.seq])
            remaining_to_send.discard(m.seq)
            sent.add(m.seq)

            timeout += 10  # we received a good request for item; be generous with our timeouts

        m = self.assert_receive_message('MISSION_ACK')
        if m.mission_type != mission_type:
            raise NotAchievedException("Mission ack not of expected mission type")
        if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
            raise NotAchievedException("Mission upload failed (%s)" %
                                       (mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name),)
        self.progress("Upload of all %u items succeeded" % len(items))

    def assert_fetch_mission_item_int(self, target_system, target_component, seq, mission_type):
        self.mav.mav.mission_request_int_send(target_system,
                                              target_component,
                                              seq,
                                              mission_type)
        m = self.assert_receive_message(
            'MISSION_ITEM_INT',
            condition=f'MISSION_ITEM_INT.mission_type=={mission_type}',
        )
        if m is None:
            raise NotAchievedException("Did not receive MISSION_ITEM_INT")
        return m

    def download_using_mission_protocol(self, mission_type, verbose=False, timeout=10):
        '''mavlink2 required'''
        target_system = 1
        target_component = 1
        self.progress("Sending mission_request_list")
        tstart = self.get_sim_time()
        self.mav.mav.mission_request_list_send(target_system,
                                               target_component,
                                               mission_type)

        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("Did not get MISSION_COUNT packet")
            m = self.mav.recv_match(blocking=True, timeout=0.1)
            if m is None:
                raise NotAchievedException("Did not get MISSION_COUNT response")
            if verbose:
                self.progress(str(m))
            if m.get_type() == 'MISSION_ACK':
                if m.target_system == 255 and m.target_component == 0:
                    # this was for MAVProxy
                    continue
                self.progress(self.dump_message_verbose(m))
                raise NotAchievedException("Received MISSION_ACK while waiting for MISSION_COUNT")
            if m.get_type() != 'MISSION_COUNT':
                continue
            if m.target_component != self.mav.source_system:
                continue
            if m.mission_type != mission_type:
                raise NotAchievedException("Mission count response of incorrect type")
            break

        items = []
        tstart = self.get_sim_time_cached()
        remaining_to_receive = set(range(0, m.count))
        next_to_request = 0
        timeout = m.count
        timeout *= self.speedup / 10.0
        timeout += 10
        while True:
            delta_t = self.get_sim_time_cached() - tstart
            if delta_t > timeout:
                raise NotAchievedException(
                    "timeout downloading type=%s after %s seconds of %s allowed" %
                    (mavutil.mavlink.enums["MAV_MISSION_TYPE"][mission_type].name,
                     delta_t, timeout))
            if len(remaining_to_receive) == 0:
                self.progress("All received")
                return items
            self.progress("Requesting item %u (remaining=%u)" %
                          (next_to_request, len(remaining_to_receive)))
            m = self.assert_fetch_mission_item_int(target_system, target_component, next_to_request, mission_type)
            if m.target_system != self.mav.source_system:
                raise NotAchievedException("Wrong target system (want=%u got=%u)" %
                                           (self.mav.source_system, m.target_system))
            if m.target_component != self.mav.source_component:
                raise NotAchievedException("Wrong target component")
            self.progress("Got (%s)" % str(m))
            if m.mission_type != mission_type:
                raise NotAchievedException("Received waypoint of wrong type")
            if m.seq != next_to_request:
                raise NotAchievedException("Received waypoint is out of sequence")
            self.progress("Item %u OK" % m.seq)
            timeout += 10  # we received an item; be generous with our timeouts
            items.append(m)
            next_to_request += 1
            remaining_to_receive.discard(m.seq)

    def dump_message_verbose(self, m):
        '''return verbose dump of m.  Wraps the pymavlink routine which
        inconveniently takes a filehandle'''
        f = io.StringIO()
        mavutil.dump_message_verbose(f, m)
        return f.getvalue()

    def poll_home_position(self, quiet=True, timeout=30):
        old = self.mav.messages.get("HOME_POSITION", None)
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("Failed to poll home position")
            if not quiet:
                self.progress("Sending MAV_CMD_GET_HOME_POSITION")
            try:
                self.run_cmd(
                    mavutil.mavlink.MAV_CMD_GET_HOME_POSITION,
                    quiet=quiet,
                )
            except ValueError:
                continue
            m = self.mav.messages.get("HOME_POSITION", None)
            if m is None:
                continue
            if old is None:
                break
            if m._timestamp != old._timestamp:
                break
        self.progress("Polled home position (%s)" % str(m))
        return m

    def position_target_loc(self):
        '''returns target location based on POSITION_TARGET_GLOBAL_INT'''
        m = self.mav.messages.get("POSITION_TARGET_GLOBAL_INT", None)
        return mavutil.location(m.lat_int*1e-7, m.lon_int*1e-7, m.alt)

    def current_waypoint(self):
        m = self.assert_receive_message('MISSION_CURRENT')
        return m.seq

    def distance_to_nav_target(self, use_cached_nav_controller_output=False):
        '''returns distance to waypoint navigation target in metres'''
        m = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
        if m is None or not use_cached_nav_controller_output:
            m = self.assert_receive_message('NAV_CONTROLLER_OUTPUT', timeout=10)
        return m.wp_dist

    def distance_to_home(self, use_cached_home=False):
        m = self.mav.messages.get("HOME_POSITION", None)
        if use_cached_home is False or m is None:
            m = self.poll_home_position(quiet=True)
        here = self.assert_receive_message('GLOBAL_POSITION_INT')
        return self.get_distance_int(m, here)

    def home_position_as_mav_location(self):
        m = self.poll_home_position()
        return mavutil.location(m.latitude*1.0e-7, m.longitude*1.0e-7, m.altitude*1.0e-3, 0)

    def offset_location_ne(self, location, metres_north, metres_east):
        '''return a new location offset from passed-in location'''
        (target_lat, target_lng) = mavextra.gps_offset(location.lat,
                                                       location.lng,
                                                       metres_east,
                                                       metres_north)
        return mavutil.location(target_lat,
                                target_lng,
                                location.alt,
                                location.heading)

    def offset_location_heading_distance(self, location, bearing, distance):
        (target_lat, target_lng) = mavextra.gps_newpos(
            location.lat,
            location.lng,
            bearing,
            distance
        )
        return mavutil.location(
            target_lat,
            target_lng,
            location.alt,
            location.heading
        )

    def monitor_groundspeed(self, want, tolerance=0.5, timeout=5):
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                break
            m = self.assert_receive_message('VFR_HUD', timeout=timeout)
            if m.groundspeed > want+tolerance:
                raise NotAchievedException("Too fast (%f > %f)" %
                                           (m.groundspeed, want))
            if m.groundspeed < want-tolerance:
                raise NotAchievedException("Too slow (%f < %f)" %
                                           (m.groundspeed, want))
            self.progress("GroundSpeed OK (got=%f) (want=%f)" %
                          (m.groundspeed, want))

    def set_home(self, loc):
        '''set home to supplied loc'''
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
            p5=int(loc.lat*1e7),
            p6=int(loc.lng*1e7),
            p7=loc.alt,
        )

    def SetHome(self):
        '''Setting and fetching of home'''
        if self.is_tracker():
            # tracker starts armed...
            self.disarm_vehicle(force=True)
        self.reboot_sitl()

        # HOME_POSITION is used as a surrogate for origin until we
        # start emitting GPS_GLOBAL_ORIGIN
        self.wait_ekf_happy()
        orig_home = self.poll_home_position()
        if orig_home is None:
            raise AutoTestTimeoutException()
        self.progress("Original home: %s" % str(orig_home))
        # original home should be close to SITL home...
        start_loc = self.sitl_start_location()
        self.progress("SITL start loc: %s" % str(start_loc))
        delta = abs(orig_home.latitude * 1.0e-7 - start_loc.lat)
        if delta > 0.000006:
            raise ValueError("homes differ in lat got=%f vs want=%f delta=%f" %
                             (orig_home.latitude * 1.0e-7, start_loc.lat, delta))
        delta = abs(orig_home.longitude * 1.0e-7 - start_loc.lng)
        if delta > 0.000006:
            raise ValueError("homes differ in lon  got=%f vs want=%f delta=%f" %
                             (orig_home.longitude * 1.0e-7, start_loc.lng, delta))
        if self.is_rover():
            self.progress("### Rover skipping altitude check unti position fixes in")
        else:
            home_alt_m = orig_home.altitude * 1.0e-3
            if abs(home_alt_m - start_loc.alt) > 2: # metres
                raise ValueError("homes differ in alt got=%fm want=%fm" %
                                 (home_alt_m, start_loc.alt))
        new_x = orig_home.latitude + 1000
        new_y = orig_home.longitude + 2000
        new_z = orig_home.altitude + 300000 # 300 metres
        print("new home: %s %s %s" % (str(new_x), str(new_y), str(new_z)))
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
            p5=new_x,
            p6=new_y,
            p7=new_z/1000.0, # mm => m
        )

        home = self.poll_home_position()
        self.progress("home: %s" % str(home))
        got_home_latitude = home.latitude
        got_home_longitude = home.longitude
        got_home_altitude = home.altitude
        if (got_home_latitude != new_x or
                got_home_longitude != new_y or
                abs(got_home_altitude - new_z) > 100): # float-conversion issues
            self.reboot_sitl()
            raise NotAchievedException(
                "Home mismatch got=(%f, %f, %f) set=(%f, %f, %f)" %
                (got_home_latitude, got_home_longitude, got_home_altitude,
                 new_x, new_y, new_z))

        self.progress("monitoring home to ensure it doesn't drift at all")
        tstart = self.get_sim_time()
        while self.get_sim_time_cached() - tstart < 10:
            home = self.poll_home_position(quiet=True)
            self.progress("home: %s" % str(home))
            if (home.latitude != got_home_latitude or
                    home.longitude != got_home_longitude or
                    home.altitude != got_home_altitude): # float-conversion issues
                self.reboot_sitl()
                raise NotAchievedException("home is drifting")

        self.progress("Waiting for EKF to start")
        self.wait_ready_to_arm()
        self.progress("now use lat=0, lon=0 to reset home to current location")
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
            p5=0, # lat
            p6=0, # lon
            p7=new_z/1000.0, # mm => m
        )
        home = self.poll_home_position()
        self.progress("home: %s" % str(home))
        if self.distance_to_home(use_cached_home=True) > 1:
            raise NotAchievedException("Setting home to current location did not work")

        self.progress("Setting home elsewhere again")
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
            p5=new_x,
            p6=new_y,
            p7=new_z/1000.0, # mm => m
        )
        if self.distance_to_home() < 10:
            raise NotAchievedException("Setting home to location did not work")

        self.progress("use param1=1 to reset home to current location")
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
            p1=1,  # use current location
            p5=37, # lat
            p6=21, # lon
            p7=new_z/1000.0, # mm => m
        )
        home = self.poll_home_position()
        self.progress("home: %s" % str(home))
        if self.distance_to_home() > 1:
            raise NotAchievedException("Setting home to current location did not work")

        if self.is_tracker():
            # tracker starts armed...
            self.disarm_vehicle(force=True)
        self.reboot_sitl()

    def zero_mag_offset_parameters(self, compass_count=3):
        self.progress("Zeroing Mag OFS parameters")
        self.get_sim_time()
        zero_offset_parameters_hash = {}
        for num in "", "2", "3":
            for axis in "X", "Y", "Z":
                name = "COMPASS_OFS%s_%s" % (num, axis)
                zero_offset_parameters_hash[name] = 0
        self.set_parameters(zero_offset_parameters_hash)
        # force-save the calibration values:
        self.run_cmd_int(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, p2=76)
        self.progress("zeroed mag parameters")

        params = [
            [("SIM_MAG1_OFS1_X", "COMPASS_OFS_X", 0),
             ("SIM_MAG1_OFS1_Y", "COMPASS_OFS_Y", 0),
             ("SIM_MAG1_OFS1_Z", "COMPASS_OFS_Z", 0), ],
        ]
        for count in range(2, compass_count + 1):
            params += [
                [("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, 0),
                 ("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, 0),
                 ("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, 0), ],
            ]
        self.check_zero_mag_parameters(params)

    def forty_two_mag_dia_odi_parameters(self, compass_count=3):
        self.progress("Forty twoing Mag DIA and ODI parameters")
        self.get_sim_time()
        params = [
            [("SIM_MAG1_DIA_X", "COMPASS_DIA_X", 42.0),
             ("SIM_MAG1_DIA_Y", "COMPASS_DIA_Y", 42.0),
             ("SIM_MAG1_DIA_Z", "COMPASS_DIA_Z", 42.0),
             ("SIM_MAG1_ODI_X", "COMPASS_ODI_X", 42.0),
             ("SIM_MAG1_ODI_Y", "COMPASS_ODI_Y", 42.0),
             ("SIM_MAG1_ODI_Z", "COMPASS_ODI_Z", 42.0), ],
        ]
        for count in range(2, compass_count + 1):
            params += [
                [("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, 42.0),
                 ("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, 42.0),
                 ("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, 42.0),
                 ("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, 42.0),
                 ("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, 42.0),
                 ("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, 42.0), ],
            ]
        self.wait_heartbeat()
        to_set = {}
        for param_set in params:
            for param in param_set:
                (_, _out, value) = param
                to_set[_out] = value
        self.set_parameters(to_set)
        self.check_zero_mag_parameters(params)

    def check_mag_parameters(self, parameter_stuff, compass_number):
        self.progress("Checking that Mag parameter")
        for idx in range(0, compass_number, 1):
            for param in parameter_stuff[idx]:
                (_in, _out, value) = param
                got_value = self.get_parameter(_out)
                if abs(got_value - value) > abs(value) * 0.15:
                    raise NotAchievedException("%s/%s not within 15%%; got %f want=%f" % (_in, _out, got_value, value))

    def check_zero_mag_parameters(self, parameter_stuff):
        self.progress("Checking that Mag OFS are zero")
        for param_set in parameter_stuff:
            for param in param_set:
                (_in, _out, _) = param
                got_value = self.get_parameter(_out)
                max = 0.15
                if "DIA" in _out or "ODI" in _out:
                    max += 42.0
                if abs(got_value) > max:
                    raise NotAchievedException(
                        "%s/%s not within 15%%; got %f want=%f" %
                        (_in, _out, got_value, 0.0 if max > 1 else 42.0))

    def check_zeros_mag_orient(self, compass_count=3):
        self.progress("zeroed mag parameters")
        self.verify_parameter_values({"COMPASS_ORIENT": 0})
        for count in range(2, compass_count + 1):
            self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0})

    # this autotest appears to interfere with FixedYawCalibration, no idea why.
    def SITLCompassCalibration(self, compass_count=3, timeout=1000):
        '''Test Fixed Yaw Calibration"'''

        timeout /= 8
        timeout *= self.speedup

        def reset_pos_and_start_magcal(mavproxy, tmask):
            mavproxy.send("sitl_stop\n")
            mavproxy.send("sitl_attitude 0 0 0\n")
            self.get_sim_time()
            self.run_cmd(
                mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
                p1=tmask, # p1: mag_mask
                p2=0, # retry
                p3=0, # autosave
                p4=0, # delay
                want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
                timeout=20,
            )
            mavproxy.send("sitl_magcal\n")

        def do_prep_mag_cal_test(mavproxy, params):
            self.progress("Preparing the vehicle for magcal")
            MAG_OFS = 100
            MAG_DIA = 1.0
            MAG_ODI = 0.004
            params += [
                [("SIM_MAG1_OFS_X", "COMPASS_OFS_X", MAG_OFS),
                 ("SIM_MAG1_OFS_Y", "COMPASS_OFS_Y", MAG_OFS + 100),
                 ("SIM_MAG1_OFS_Z", "COMPASS_OFS_Z", MAG_OFS + 200),
                 ("SIM_MAG1_DIA_X", "COMPASS_DIA_X", MAG_DIA),
                 ("SIM_MAG1_DIA_Y", "COMPASS_DIA_Y", MAG_DIA + 0.1),
                 ("SIM_MAG1_DIA_Z", "COMPASS_DIA_Z", MAG_DIA + 0.2),
                 ("SIM_MAG1_ODI_X", "COMPASS_ODI_X", MAG_ODI),
                 ("SIM_MAG1_ODI_Y", "COMPASS_ODI_Y", MAG_ODI + 0.001),
                 ("SIM_MAG1_ODI_Z", "COMPASS_ODI_Z", MAG_ODI + 0.001), ],
            ]
            for count in range(2, compass_count + 1):
                params += [
                    [("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)),
                     ("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)),
                     ("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)),
                     ("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)),
                     ("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)),
                     ("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)),
                     ("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)),
                     ("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)),
                     ("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ],
                ]
            self.progress("Setting calibration mode")
            self.wait_heartbeat()
            self.customise_SITL_commandline(["-M", "calibration"])
            self.mavproxy_load_module(mavproxy, "sitl_calibration")
            self.mavproxy_load_module(mavproxy, "calibration")
            self.mavproxy_load_module(mavproxy, "relay")
            self.wait_statustext("is using GPS", timeout=60)
            mavproxy.send("accelcalsimple\n")
            mavproxy.expect("Calibrated")
            # disable it to not interfert with calibration acceptation
            self.mavproxy_unload_module(mavproxy, "calibration")
            if self.is_copter():
                # set frame class to pass arming check on copter
                self.set_parameter("FRAME_CLASS", 1)
            self.progress("Setting SITL Magnetometer model value")
            self.set_parameter("COMPASS_AUTO_ROT", 0)
            # MAG_ORIENT = 4
            # self.set_parameter("SIM_MAG1_ORIENT", MAG_ORIENT)
            # for count in range(2, compass_count + 1):
            #     self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41))
            #     # set compass external to check that orientation is found and auto set
            #     self.set_parameter("COMPASS_EXTERN%d" % count, 1)
            to_set = {}
            for param_set in params:
                for param in param_set:
                    (_in, _out, value) = param
                    to_set[_in] = value
                    to_set[_out] = value
            self.set_parameters(to_set)
            self.start_subtest("Zeroing Mag OFS parameters with Mavlink")
            self.zero_mag_offset_parameters()
            self.progress("=========================================")
            # Change the default value to unexpected 42
            self.forty_two_mag_dia_odi_parameters()
            self.progress("Zeroing Mags orientations")
            self.set_parameter("COMPASS_ORIENT", 0)
            for count in range(2, compass_count + 1):
                self.set_parameter("COMPASS_ORIENT%d" % count, 0)

            # Only care about compass prearm
            self.set_parameter("ARMING_SKIPCHK", ~(1 << 2))

        #################################################
        def do_test_mag_cal(mavproxy, params, compass_tnumber):
            self.start_subtest("Try magcal and make it stop around 30%")
            self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
            reset_pos_and_start_magcal(mavproxy, target_mask)
            tstart = self.get_sim_time()
            reached_pct = [0] * compass_tnumber
            tstop = None
            while True:
                if self.get_sim_time_cached() - tstart > timeout:
                    raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS")
                m = self.mav.recv_match(type='MAG_CAL_PROGRESS', blocking=True, timeout=5)
                if m is None:
                    if tstop is not None:
                        # wait 3 second to unsure that the calibration is well stopped
                        if self.get_sim_time_cached() - tstop > 10:
                            if reached_pct[0] > 33:
                                raise NotAchievedException("Mag calibration didn't stop")
                            else:
                                break
                        else:
                            continue
                    else:
                        continue
                if m is not None:
                    self.progress("Mag CAL progress: %s" % str(m))
                    cid = m.compass_id
                    new_pct = int(m.completion_pct)
                    if new_pct != reached_pct[cid]:
                        if new_pct < reached_pct[cid]:
                            raise NotAchievedException("Mag calibration restart when it shouldn't")
                        reached_pct[cid] = new_pct
                        self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
                        if cid == 0 and 13 <= reached_pct[0] <= 15:
                            self.progress("Request again to start calibration, it shouldn't restart from 0")
                            self.run_cmd(
                                mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
                                p1=target_mask,
                                want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
                                timeout=20,
                            )

                if reached_pct[0] > 30:
                    self.run_cmd(
                        mavutil.mavlink.MAV_CMD_DO_CANCEL_MAG_CAL,
                        p1=target_mask,
                        want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
                    )
                    if tstop is None:
                        tstop = self.get_sim_time_cached()
                if tstop is not None:
                    # wait 3 second to unsure that the calibration is well stopped
                    if self.get_sim_time_cached() - tstop > 3:
                        raise NotAchievedException("Mag calibration didn't stop")
            self.check_zero_mag_parameters(params)
            self.check_zeros_mag_orient()

            #################################################
            self.start_subtest("Try magcal and make it failed")
            self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
            old_cal_fit = self.get_parameter("COMPASS_CAL_FIT")
            self.set_parameter("COMPASS_CAL_FIT", 0.001, add_to_context=False)
            reset_pos_and_start_magcal(mavproxy, target_mask)
            tstart = self.get_sim_time()
            reached_pct = [0] * compass_tnumber
            report_get = [0] * compass_tnumber
            while True:
                if self.get_sim_time_cached() - tstart > timeout:
                    raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS")
                m = self.assert_receive_message(["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], timeout=10)
                if m.get_type() == "MAG_CAL_REPORT":
                    if report_get[m.compass_id] == 0:
                        self.progress("Report: %s" % str(m))
                        if m.cal_status == mavutil.mavlink.MAG_CAL_FAILED:
                            report_get[m.compass_id] = 1
                        else:
                            raise NotAchievedException("Mag calibration didn't failed")
                    if all(ele >= 1 for ele in report_get):
                        self.progress("All Mag report failure")
                        break
                if m is not None and m.get_type() == "MAG_CAL_PROGRESS":
                    self.progress("Mag CAL progress: %s" % str(m))
                    cid = m.compass_id
                    new_pct = int(m.completion_pct)
                    if new_pct != reached_pct[cid]:
                        reached_pct[cid] = new_pct
                        self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
                        if cid == 0 and 49 <= reached_pct[0] <= 50:
                            self.progress("Try arming during calibration, should failed")
                            self.try_arm(False, "Compass calibration running")

            self.check_zero_mag_parameters(params)
            self.check_zeros_mag_orient()
            self.set_parameter("COMPASS_CAL_FIT", old_cal_fit, add_to_context=False)

            #################################################
            self.start_subtest("Try magcal and wait success")
            self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
            reset_pos_and_start_magcal(mavproxy, target_mask)
            progress_count = [0] * compass_tnumber
            reached_pct = [0] * compass_tnumber
            report_get = [0] * compass_tnumber
            tstart = self.get_sim_time()
            while True:
                if self.get_sim_time_cached() - tstart > timeout:
                    raise NotAchievedException("Cannot receive enough MAG_CAL_PROGRESS")
                m = self.assert_receive_message(["MAG_CAL_PROGRESS", "MAG_CAL_REPORT"], timeout=5)
                if m.get_type() == "MAG_CAL_REPORT":
                    if report_get[m.compass_id] == 0:
                        self.progress("Report: %s" % self.dump_message_verbose(m))
                        param_names = ["SIM_MAG1_ORIENT"]
                        for i in range(2, compass_tnumber+1):
                            param_names.append("SIM_MAG%u_ORIENT" % i)
                        for param_name in param_names:
                            self.progress("%s=%f" % (param_name, self.get_parameter(param_name)))
                        if m.cal_status == mavutil.mavlink.MAG_CAL_SUCCESS:
                            threshold = 95
                            if reached_pct[m.compass_id] < threshold:
                                raise NotAchievedException(
                                    "Mag calibration report SUCCESS without >=%f%% completion (got %f%%)" %
                                    (threshold, reached_pct[m.compass_id]))
                            report_get[m.compass_id] = 1
                        else:
                            raise NotAchievedException(
                                "Mag calibration didn't SUCCEED (cal_status=%u) (progress_count=%s)" %
                                (m.cal_status, progress_count[m.compass_id],))
                    if all(ele >= 1 for ele in report_get):
                        self.progress("All Mag report SUCCESS")
                        break
                if m is not None and m.get_type() == "MAG_CAL_PROGRESS":
                    cid = m.compass_id
                    new_pct = int(m.completion_pct)
                    progress_count[cid] += 1
                    if new_pct != reached_pct[cid]:
                        reached_pct[cid] = new_pct
                        self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
            mavproxy.send("sitl_stop\n")
            mavproxy.send("sitl_attitude 0 0 0\n")
            self.progress("Checking that value aren't changed without acceptation")
            self.check_zero_mag_parameters(params)
            self.check_zeros_mag_orient()
            self.progress("Send acceptation and check value")
            self.wait_heartbeat()
            self.run_cmd(
                mavutil.mavlink.MAV_CMD_DO_ACCEPT_MAG_CAL,
                p1=target_mask, # p1: mag_mask
                want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
                timeout=20,
            )
            self.check_mag_parameters(params, compass_tnumber)
            self.verify_parameter_values({"COMPASS_ORIENT": self.get_parameter("SIM_MAG1_ORIENT")})
            for count in range(2, compass_tnumber + 1):
                self.verify_parameter_values({"COMPASS_ORIENT%d" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)})
            self.try_arm(False, "Compass calibrated requires reboot")

            # test buzzer/notify ?
            self.progress("Rebooting and making sure we could arm with these values")
            self.drain_mav()
            self.reboot_sitl()
            if False:   # FIXME!  This fails with compasses inconsistent!
                self.wait_ready_to_arm(timeout=60)
            self.progress("Setting manually the parameter for other sensor to avoid compass consistency error")
            for idx in range(compass_tnumber, compass_count, 1):
                for param in params[idx]:
                    (_in, _out, value) = param
                    self.set_parameter(_out, value)
            for count in range(compass_tnumber + 1, compass_count + 1):
                self.set_parameter("COMPASS_ORIENT%d" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count))
            self.arm_vehicle()
            self.progress("Test calibration rejection when armed")
            self.run_cmd(
                mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
                p1=target_mask, # p1: mag_mask
                p2=0, # retry
                p3=0, # autosave
                p4=0, # delay
                want_result=mavutil.mavlink.MAV_RESULT_FAILED,
                timeout=20,
            )
            self.disarm_vehicle()
            self.mavproxy_unload_module(mavproxy, "relay")
            self.mavproxy_unload_module(mavproxy, "sitl_calibration")

        ex = None

        mavproxy = self.start_mavproxy()
        try:
            self.set_parameter("AHRS_EKF_TYPE", 10)
            self.set_parameter("SIM_GND_BEHAV", 0)

            curr_params = []
            target_mask = 0
            # we test all bitmask plus 0 for all
            for run in range(-1, compass_count, 1):
                ntest_compass = compass_count
                if run < 0:
                    # use bitmask 0 for all compass
                    target_mask = 0
                else:
                    target_mask |= (1 << run)
                    ntest_compass = run + 1
                do_prep_mag_cal_test(mavproxy, curr_params)
                do_test_mag_cal(mavproxy, curr_params, ntest_compass)

        except Exception as e:
            self.progress("Caught exception: %s" %
                          self.get_exception_stacktrace(e))
            ex = e
            self.mavproxy_unload_module(mavproxy, "relay")
            self.mavproxy_unload_module(mavproxy, "sitl_calibration")
        if ex is not None:
            raise ex

        self.stop_mavproxy(mavproxy)

        # need to reboot SITL after moving away from EKF type 10; we
        # can end up with home set but origin not and that will lead
        # to bad things.
        self.reboot_sitl()

    def test_mag_reordering_assert_mag_transform(self, values, transforms):
        '''transforms ought to be read as, "take all the parameter values from
        the first compass parameters and shove them into the second indicating
        compass parameters'''

        # create a set of mappings from one parameter name to another
        # e.g. COMPASS_OFS_X => COMPASS_OFS2_X if the transform is
        # [(1,2)].  [(1,2),(2,1)] should swap the compass values

        parameter_mappings = {}
        for key in values.keys():
            parameter_mappings[key] = key
        for (old_compass_num, new_compass_num) in transforms:
            old_key_compass_bit = str(old_compass_num)
            if old_key_compass_bit == "1":
                old_key_compass_bit = ""
            new_key_compass_bit = str(new_compass_num)
            if new_key_compass_bit == "1":
                new_key_compass_bit = ""
            # vectors first:
            for key_vector_bit in ["OFS", "DIA", "ODI", "MOT"]:
                for axis in "X", "Y", "Z":
                    old_key = "COMPASS_%s%s_%s" % (key_vector_bit,
                                                   old_key_compass_bit,
                                                   axis)
                    new_key = "COMPASS_%s%s_%s" % (key_vector_bit,
                                                   new_key_compass_bit,
                                                   axis)
                    parameter_mappings[old_key] = new_key
            # then non-vectorey bits:
            for key_bit in "SCALE", "ORIENT":
                old_key = "COMPASS_%s%s" % (key_bit, old_key_compass_bit)
                new_key = "COMPASS_%s%s" % (key_bit, new_key_compass_bit)
                parameter_mappings[old_key] = new_key
            # then a sore thumb:
            if old_key_compass_bit == "":
                old_key = "COMPASS_EXTERNAL"
            else:
                old_key = "COMPASS_EXTERN%s" % old_key_compass_bit
            if new_key_compass_bit == "":
                new_key = "COMPASS_EXTERNAL"
            else:
                new_key = "COMPASS_EXTERN%s" % new_key_compass_bit
            parameter_mappings[old_key] = new_key

        for key in values.keys():
            newkey = parameter_mappings[key]
            current_value = self.get_parameter(newkey)
            expected_value = values[key]
            if abs(current_value - expected_value) > 0.001:
                raise NotAchievedException("%s has wrong value; want=%f got=%f transforms=%s (old parameter name=%s)" %
                                           (newkey, expected_value, current_value, str(transforms), key))

    def CompassReordering(self):
        '''Test Compass reordering when priorities are changed'''
        originals = {
            "COMPASS_OFS_X": 1.1,
            "COMPASS_OFS_Y": 1.2,
            "COMPASS_OFS_Z": 1.3,
            "COMPASS_DIA_X": 1.4,
            "COMPASS_DIA_Y": 1.5,
            "COMPASS_DIA_Z": 1.6,
            "COMPASS_ODI_X": 1.7,
            "COMPASS_ODI_Y": 1.8,
            "COMPASS_ODI_Z": 1.9,
            "COMPASS_MOT_X": 1.91,
            "COMPASS_MOT_Y": 1.92,
            "COMPASS_MOT_Z": 1.93,
            "COMPASS_SCALE": 1.94,
            "COMPASS_ORIENT": 1,
            "COMPASS_EXTERNAL": 2,

            "COMPASS_OFS2_X": 2.1,
            "COMPASS_OFS2_Y": 2.2,
            "COMPASS_OFS2_Z": 2.3,
            "COMPASS_DIA2_X": 2.4,
            "COMPASS_DIA2_Y": 2.5,
            "COMPASS_DIA2_Z": 2.6,
            "COMPASS_ODI2_X": 2.7,
            "COMPASS_ODI2_Y": 2.8,
            "COMPASS_ODI2_Z": 2.9,
            "COMPASS_MOT2_X": 2.91,
            "COMPASS_MOT2_Y": 2.92,
            "COMPASS_MOT2_Z": 2.93,
            "COMPASS_SCALE2": 2.94,
            "COMPASS_ORIENT2": 3,
            "COMPASS_EXTERN2": 4,

            "COMPASS_OFS3_X": 3.1,
            "COMPASS_OFS3_Y": 3.2,
            "COMPASS_OFS3_Z": 3.3,
            "COMPASS_DIA3_X": 3.4,
            "COMPASS_DIA3_Y": 3.5,
            "COMPASS_DIA3_Z": 3.6,
            "COMPASS_ODI3_X": 3.7,
            "COMPASS_ODI3_Y": 3.8,
            "COMPASS_ODI3_Z": 3.9,
            "COMPASS_MOT3_X": 3.91,
            "COMPASS_MOT3_Y": 3.92,
            "COMPASS_MOT3_Z": 3.93,
            "COMPASS_SCALE3": 3.94,
            "COMPASS_ORIENT3": 5,
            "COMPASS_EXTERN3": 6,
        }

        # quick sanity check to ensure all values are unique:
        if len(originals.values()) != len(set(originals.values())):
            raise NotAchievedException("Values are not all unique!")

        self.progress("Setting parameters")
        self.set_parameters(originals)

        self.reboot_sitl()

        # no transforms means our originals should be our finals:
        self.test_mag_reordering_assert_mag_transform(originals, [])

        self.start_subtest("Pushing 1st mag to 3rd")
        self.context_push()
        # now try reprioritising compass 1 to be higher than compass 0:
        prio1_id = self.get_parameter("COMPASS_PRIO1_ID")
        prio2_id = self.get_parameter("COMPASS_PRIO2_ID")
        prio3_id = self.get_parameter("COMPASS_PRIO3_ID")
        self.set_parameters({
            "COMPASS_PRIO1_ID": prio2_id,
            "COMPASS_PRIO2_ID": prio3_id,
            "COMPASS_PRIO3_ID": prio1_id,
        })

        self.reboot_sitl()

        self.test_mag_reordering_assert_mag_transform(originals, [
            (2, 1),
            (3, 2),
            (1, 3),
        ])

        self.progress("Setting priorities back to original order")
        self.set_parameters({
            "COMPASS_PRIO1_ID": prio1_id,
            "COMPASS_PRIO2_ID": prio2_id,
            "COMPASS_PRIO3_ID": prio3_id,
        })

        self.reboot_sitl()

        self.test_mag_reordering_assert_mag_transform(originals, [
            (1, 1),
            (2, 2),
            (3, 3),
        ])

        self.progress("And reverse ordering")
        self.set_parameters({
            "COMPASS_PRIO1_ID": prio3_id,
            "COMPASS_PRIO2_ID": prio2_id,
            "COMPASS_PRIO3_ID": prio1_id,
        })

        self.reboot_sitl()

        self.test_mag_reordering_assert_mag_transform(originals, [
            (1, 3),
            (2, 2),
            (3, 1),
        ])

        self.context_pop()

    def SixCompassCalibrationAndReordering(self):
        '''Test reordering of 6 simulated compasses by changing priority and appearance order'''
        self.context_push()

        total_compasses = 6

        self.progress("Setting up 6 simulated I2C compasses with calibration")

        # Fetch existing SIM_MAGx_DEVID values
        device_ids = self.get_sim_mag_devids(total_compasses)

        # disable force saving dev_ids for subsequent boots
        self.set_parameter("SIM_MAG_SAVE_IDS", 0)

        self.reboot_sitl()
        self.wait_ready_to_arm()

        # Verify all 6 compasses are detected (stored in DEV_ID parameters)
        self.progress("Verifying 6 compasses detected in DEV_ID slots")
        self.check_mag_devids_detected(total_compasses)

        # Reboot to apply changes
        self.progress("Rebooting to apply reordering")
        self.reboot_sitl()

        def wait_correct_compass_prearm_message():
            # Check for correct compass prearm messages
            # We expect "PreArm: Compass not calibrated" but NOT
            # "PreArm: Compass x not found" or any other compass prearm message
            self.progress("Waiting for compass prearm message")
            self.context_collect("STATUSTEXT")
            msg = self.wait_statustext("PreArm: Compass", timeout=60, check_context=True)

            # Check if we got the expected message or an unexpected one
            if "not found" in msg.text.lower():
                self.context_clear_collection("STATUSTEXT")
                raise NotAchievedException(f"Unexpected compass not found: {msg.text}")
            elif "not calibrated" in msg.text.lower():
                self.progress(f"Got expected prearm failure: {msg.text}")
            else:
                self.context_clear_collection("STATUSTEXT")
                raise NotAchievedException(f"Unexpected compass prearm message: {msg.text}")

            self.context_clear_collection("STATUSTEXT")

        # Change appearance order: swap positions 2 and 4
        # Reorder: [dev1, dev4, dev3, dev2, dev5, dev6]
        reordered = [device_ids[0], device_ids[3], device_ids[2],
                     device_ids[1], device_ids[4], device_ids[5]]
        self.reorder_compass_appearance(reordered)

        # Set priority for compass 4
        self.set_parameter("COMPASS_PRIO3_ID", device_ids[3])

        self.reboot_sitl()
        wait_correct_compass_prearm_message()

        # Verify all 6 compasses are still present (in any DEV_ID slot)
        self.progress("Verifying all 6 compasses still present after reordering")
        self.check_mag_devids_detected(total_compasses)

        self.reorder_compass_appearance(reordered)
        self.progress("Setting priorities to use last three compasses")
        self.set_parameters({
            "COMPASS_PRIO1_ID": device_ids[3],
            "COMPASS_PRIO2_ID": device_ids[4],
            "COMPASS_PRIO3_ID": device_ids[5],
        })
        self.reboot_sitl()
        wait_correct_compass_prearm_message()
        self.check_mag_devids_detected(total_compasses)

        # revert to original
        self.progress("Reverting to original compass priorities")
        self.reorder_compass_appearance(device_ids)
        self.set_parameters({
            "COMPASS_PRIO1_ID": device_ids[0],
            "COMPASS_PRIO2_ID": device_ids[1],
            "COMPASS_PRIO3_ID": device_ids[2],
        })
        self.reboot_sitl()
        self.wait_ready_to_arm()

        self.progress("SixCompassCalibrationAndReordering completed successfully")
        self.context_pop()

    # something about SITLCompassCalibration appears to fail
    # this one, so we put it first:
    def FixedYawCalibration(self):
        '''Test Fixed Yaw Calibration'''
        self.context_push()
        ex = None
        try:
            MAG_OFS_X = 100
            MAG_OFS_Y = 200
            MAG_OFS_Z = 300
            wanted = {
                "COMPASS_OFS_X": (MAG_OFS_X, 3.0),
                "COMPASS_OFS_Y": (MAG_OFS_Y, 3.0),
                "COMPASS_OFS_Z": (MAG_OFS_Z, 3.0),
                "COMPASS_DIA_X": 1,
                "COMPASS_DIA_Y": 1,
                "COMPASS_DIA_Z": 1,
                "COMPASS_ODI_X": 0,
                "COMPASS_ODI_Y": 0,
                "COMPASS_ODI_Z": 0,

                "COMPASS_OFS2_X": (MAG_OFS_X, 3.0),
                "COMPASS_OFS2_Y": (MAG_OFS_Y, 3.0),
                "COMPASS_OFS2_Z": (MAG_OFS_Z, 3.0),
                "COMPASS_DIA2_X": 1,
                "COMPASS_DIA2_Y": 1,
                "COMPASS_DIA2_Z": 1,
                "COMPASS_ODI2_X": 0,
                "COMPASS_ODI2_Y": 0,
                "COMPASS_ODI2_Z": 0,

                "COMPASS_OFS3_X": (MAG_OFS_X, 3.0),
                "COMPASS_OFS3_Y": (MAG_OFS_Y, 3.0),
                "COMPASS_OFS3_Z": (MAG_OFS_Z, 3.0),
                "COMPASS_DIA3_X": 1,
                "COMPASS_DIA3_Y": 1,
                "COMPASS_DIA3_Z": 1,
                "COMPASS_ODI3_X": 0,
                "COMPASS_ODI3_Y": 0,
                "COMPASS_ODI3_Z": 0,
            }
            self.set_parameters({
                "SIM_MAG1_OFS_X": MAG_OFS_X,
                "SIM_MAG1_OFS_Y": MAG_OFS_Y,
                "SIM_MAG1_OFS_Z": MAG_OFS_Z,

                "SIM_MAG2_OFS_X": MAG_OFS_X,
                "SIM_MAG2_OFS_Y": MAG_OFS_Y,
                "SIM_MAG2_OFS_Z": MAG_OFS_Z,

                "SIM_MAG3_OFS_X": MAG_OFS_X,
                "SIM_MAG3_OFS_Y": MAG_OFS_Y,
                "SIM_MAG3_OFS_Z": MAG_OFS_Z,
            })

            # set to some sensible-ish initial values.  If your initial
            # offsets are way, way off you can get some very odd effects.
            for param in wanted:
                value = 0.0
                if "DIA" in param:
                    value = 1.001
                elif "ODI" in param:
                    value = 0.001
                self.set_parameter(param, value)

            self.zero_mag_offset_parameters()

            # wait until we definitely know where we are:
            self.poll_home_position(timeout=120)

            ss = self.assert_receive_message('SIMSTATE', verbose=True)

            self.run_cmd(
                mavutil.mavlink.MAV_CMD_FIXED_MAG_CAL_YAW,
                p1=math.degrees(ss.yaw),
            )
            self.verify_parameter_values(wanted)

            # run same command but as command_int:
            self.zero_mag_offset_parameters()
            self.run_cmd_int(
                mavutil.mavlink.MAV_CMD_FIXED_MAG_CAL_YAW,
                p1=math.degrees(ss.yaw),
            )
            self.verify_parameter_values(wanted)

            self.progress("Rebooting and making sure we could arm with these values")
            self.reboot_sitl()
            self.wait_ready_to_arm(timeout=60)

        except Exception as e:
            ex = e

        self.context_pop()

        if ex is not None:
            raise ex

    def DataFlashOverMAVLink(self):
        '''Test DataFlash over MAVLink'''
        self.context_push()
        ex = None
        mavproxy = self.start_mavproxy()
        try:
            self.set_parameter("LOG_BACKEND_TYPE", 2)
            self.reboot_sitl()
            self.wait_ready_to_arm(check_prearm_bit=False)
            mavproxy.send('arm throttle\n')
            mavproxy.expect('PreArm: Logging failed')
            self.mavproxy_load_module(mavproxy, 'dataflash_logger')
            mavproxy.send("dataflash_logger set verbose 1\n")
            mavproxy.expect('logging started')
            mavproxy.send("dataflash_logger set verbose 0\n")
            self.delay_sim_time(1)
            self.do_timesync_roundtrip()  # drain COMMAND_ACK from that failed arm
            self.arm_vehicle()
            tstart = self.get_sim_time()
            last_status = 0
            mavproxy.send('repeat add 1 dataflash_logger status\n')
            while True:
                now = self.get_sim_time()
                if now - tstart > 60:
                    break
                if now - last_status > 5:
                    last_status = now
                    # seen on autotest: Active Rate(3s):97.790kB/s Block:164 Missing:0 Fixed:0 Abandoned:0
                    mavproxy.expect(r"Active Rate\([0-9]+s\):([0-9]+[.][0-9]+)")
                    rate = float(mavproxy.match.group(1))
                    self.progress("Rate: %f" % rate)
                    desired_rate = 50
                    if self.valgrind or self.callgrind:
                        desired_rate /= 10
                    if rate < desired_rate:
                        raise NotAchievedException("Exceptionally low transfer rate (%u < %u)" % (rate, desired_rate))
            self.disarm_vehicle()
            mavproxy.send('repeat remove 0\n')
        except Exception as e:
            self.print_exception_caught(e)
            self.disarm_vehicle()
            ex = e
        self.mavproxy_unload_module(mavproxy, 'dataflash_logger')

        # the following things won't work - but they shouldn't die either:
        self.mavproxy_load_module(mavproxy, 'log')

        self.progress("Try log list")
        mavproxy.send("log list\n")
        mavproxy.expect("No logs")

        self.progress("Try log erase")
        mavproxy.send("log erase\n")
        # no response to this...

        self.progress("Try log download")
        mavproxy.send("log download 1\n")
        # no response to this...

        self.mavproxy_unload_module(mavproxy, 'log')

        self.context_pop()

        self.stop_mavproxy(mavproxy)
        self.reboot_sitl()
        if ex is not None:
            raise ex

    def DataFlash(self):
        """Test DataFlash SITL backend"""
        self.context_push()
        ex = None
        mavproxy = self.start_mavproxy()
        try:
            self.set_parameter("LOG_BACKEND_TYPE", 4)
            self.set_parameter("LOG_FILE_DSRMROT", 1)
            self.set_parameter("LOG_BLK_RATEMAX", 1)
            self.reboot_sitl()
            # First log created here, but we are in chip erase so ignored
            mavproxy.send("module load log\n")
            mavproxy.send("log erase\n")
            mavproxy.expect("Chip erase complete")

            self.wait_ready_to_arm()
            if self.is_copter() or self.is_plane():
                self.set_autodisarm_delay(0)
            self.arm_vehicle()
            self.delay_sim_time(5)
            self.disarm_vehicle()
            # First log created here
            self.delay_sim_time(2)
            self.arm_vehicle()
            self.delay_sim_time(5)
            self.disarm_vehicle()
            # Second log created here
            self.delay_sim_time(2)
            mavproxy.send("log list\n")
            mavproxy.expect("Log ([0-9]+)  numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
            log_num = int(mavproxy.match.group(1))
            numlogs = int(mavproxy.match.group(2))
            lastlog = int(mavproxy.match.group(3))
            size = int(mavproxy.match.group(4))
            if numlogs != 2 or log_num != 1 or size <= 0:
                raise NotAchievedException("Unexpected log information %d %d %d" % (log_num, numlogs, lastlog))
            self.progress("Log size: %d" % size)
            self.reboot_sitl()
            # This starts a new log with a time of 0, wait for arm so that we can insert the correct time
            self.wait_ready_to_arm()
            # Third log created here
            mavproxy.send("log list\n")
            mavproxy.expect("Log 1  numLogs 3 lastLog 3 size")

            # Download second and third logs
            mavproxy.send("log download 2 logs/dataflash-log-002.BIN\n")
            mavproxy.expect("Finished downloading", timeout=120)
            mavproxy.send("log download 3 logs/dataflash-log-003.BIN\n")
            mavproxy.expect("Finished downloading", timeout=120)

            # Erase the logs
            mavproxy.send("log erase\n")
            mavproxy.expect("Chip erase complete")

        except Exception as e:
            self.print_exception_caught(e)
            ex = e
        mavproxy.send("module unload log\n")
        self.stop_mavproxy(mavproxy)
        self.context_pop()
        self.reboot_sitl()
        if ex is not None:
            raise ex

    def validate_log_file(self, logname, header_errors=0):
        """Validate the contents of a log file"""
        # read the downloaded log - it must parse without error
        class Capturing(list):
            def __enter__(self):
                self._stderr = sys.stderr
                sys.stderr = self._stringio = io.StringIO()
                return self

            def __exit__(self, *args):
                self.extend(self._stringio.getvalue().splitlines())
                del self._stringio    # free up some memory
                sys.stderr = self._stderr

        with Capturing() as df_output:
            try:
                mlog = mavutil.mavlink_connection(logname)
                while True:
                    m = mlog.recv_match()
                    if m is None:
                        break
            except Exception as e:
                raise NotAchievedException("Error reading log file %s: %s" % (logname, str(e)))

        herrors = 0

        for msg in df_output:
            if msg.startswith("bad header") or msg.startswith("unknown msg type"):
                herrors = herrors + 1

        if herrors > header_errors:
            raise NotAchievedException("Error parsing log file %s, %d header errors" % (logname, herrors))

    def DataFlashErase(self):
        """Test that erasing the dataflash chip and creating a new log is error free"""
        mavproxy = self.start_mavproxy()

        ex = None
        self.context_push()
        try:
            self.set_parameter("LOG_BACKEND_TYPE", 4)
            self.reboot_sitl()
            mavproxy.send("module load log\n")
            mavproxy.send("log erase\n")
            mavproxy.expect("Chip erase complete")
            self.set_parameter("LOG_DISARMED", 1)
            self.delay_sim_time(3)
            self.set_parameter("LOG_DISARMED", 0)
            mavproxy.send("log download 1 logs/dataflash-log-erase.BIN\n")
            mavproxy.expect("Finished downloading", timeout=120)
            # read the downloaded log - it must parse without error
            self.validate_log_file("logs/dataflash-log-erase.BIN")

            self.start_subtest("Test file wrapping results in a valid file")
            # roughly 4mb
            self.set_parameter("LOG_FILE_DSRMROT", 1)
            self.set_parameter("LOG_BITMASK", 131071)
            self.wait_ready_to_arm()
            if self.is_copter() or self.is_plane():
                self.set_autodisarm_delay(0)
            self.arm_vehicle()
            self.delay_sim_time(30)
            self.disarm_vehicle()
            # roughly 4mb
            self.arm_vehicle()
            self.delay_sim_time(30)
            self.disarm_vehicle()
            # roughly 9mb, should wrap around
            self.arm_vehicle()
            self.delay_sim_time(50)
            self.disarm_vehicle()
            # make sure we have finished logging
            self.delay_sim_time(15)
            mavproxy.send("log list\n")
            try:
                mavproxy.expect("Log ([0-9]+)  numLogs ([0-9]+) lastLog ([0-9]+) size ([0-9]+)", timeout=120)
            except pexpect.TIMEOUT as e:
                if self.sitl_is_running():
                    self.progress("SITL is running")
                else:
                    self.progress("SITL is NOT running")
                raise NotAchievedException("Received %s" % str(e))
            if int(mavproxy.match.group(2)) != 3:
                raise NotAchievedException("Expected 3 logs got %s" % (mavproxy.match.group(2)))

            mavproxy.send("log download 1 logs/dataflash-log-erase2.BIN\n")
            mavproxy.expect("Finished downloading", timeout=120)
            self.validate_log_file("logs/dataflash-log-erase2.BIN", 1)

            mavproxy.send("log download latest logs/dataflash-log-erase3.BIN\n")
            mavproxy.expect("Finished downloading", timeout=120)
            self.validate_log_file("logs/dataflash-log-erase3.BIN", 1)

            # clean up
            mavproxy.send("log erase\n")
            mavproxy.expect("Chip erase complete")

            # clean up
            mavproxy.send("log erase\n")
            mavproxy.expect("Chip erase complete")

        except Exception as e:
            self.print_exception_caught(e)
            ex = e

        mavproxy.send("module unload log\n")

        self.context_pop()
        self.reboot_sitl()

        self.stop_mavproxy(mavproxy)

        if ex is not None:
            raise ex

    def ArmFeatures(self):
        '''Arm features'''
        # TEST ARMING/DISARM
        self.delay_sim_time(12)  # wait for gyros/accels to be happy
        if self.get_parameter("ARMING_SKIPCHK") != 0 and not self.is_sub():
            raise ValueError("Arming skipped checks should be 0")
        if not self.is_sub() and not self.is_tracker():
            self.set_parameter("ARMING_RUDDER", 2)  # allow arm and disarm with rudder on first tests
        if self.is_copter():
            interlock_channel = 8  # Plane got flighmode_ch on channel 8
            if not self.is_heli():  # heli don't need interlock option
                interlock_channel = 9
                self.set_parameter("RC%u_OPTION" % interlock_channel, 32)
            self.set_rc(interlock_channel, 1000)
        self.zero_throttle()
        # Disable auto disarm for next tests
        # Rover and Sub don't have auto disarm
        if self.is_copter() or self.is_plane():
            self.set_autodisarm_delay(0)
        self.start_subtest("Test normal arm and disarm features")
        self.wait_ready_to_arm()
        self.progress("default arm_vehicle() call")
        if not self.arm_vehicle():
            raise NotAchievedException("Failed to ARM")
        self.progress("default disarm_vehicle() call")
        self.disarm_vehicle()

        self.start_subtest("Arm/disarm vehicle with COMMAND_INT")
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=1,  # ARM
        )
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=0,  # DISARM
        )

        self.progress("arm with mavproxy")
        mavproxy = self.start_mavproxy()
        if not self.mavproxy_arm_vehicle(mavproxy):
            raise NotAchievedException("Failed to ARM")
        self.progress("disarm with mavproxy")
        self.mavproxy_disarm_vehicle(mavproxy)
        self.stop_mavproxy(mavproxy)

        if not self.is_sub():
            self.start_subtest("Test arm with rc input")
            self.arm_motors_with_rc_input()
            self.progress("disarm with rc input")
            if self.is_balancebot():
                self.progress("balancebot can't disarm with RC input")
                self.disarm_vehicle()
            else:
                self.disarm_motors_with_rc_input()

            self.start_subtest("Test arm and disarm with switch")
            arming_switch = 7
            self.set_parameter("RC%d_OPTION" % arming_switch, 153)
            self.set_rc(arming_switch, 1000)
            # delay so a transition is seen by the RC switch code:
            self.delay_sim_time(0.5)
            self.arm_motors_with_switch(arming_switch)
            self.disarm_motors_with_switch(arming_switch)
            self.set_rc(arming_switch, 1000)

            if self.is_copter():
                self.start_subtest("Test arming failure with throttle too high")
                self.set_rc(3, 1800)
                try:
                    if self.arm_vehicle():
                        raise NotAchievedException("Armed when throttle too high")
                except ValueError:
                    pass
                try:
                    self.arm_motors_with_rc_input()
                except NotAchievedException:
                    pass
                if self.armed():
                    raise NotAchievedException(
                        "Armed via RC when throttle too high")
                try:
                    self.arm_motors_with_switch(arming_switch)
                except NotAchievedException:
                    pass
                if self.armed():
                    raise NotAchievedException("Armed via RC when switch too high")
                self.zero_throttle()
                self.set_rc(arming_switch, 1000)

            # Sub doesn't have 'stick commands'
            self.start_subtest("Test arming failure with ARMING_RUDDER=0")
            self.set_parameter("ARMING_RUDDER", 0)
            try:
                self.arm_motors_with_rc_input()
            except NotAchievedException:
                pass
            if self.armed():
                raise NotAchievedException(
                    "Armed with rudder when ARMING_RUDDER=0")
            self.start_subtest("Test disarming failure with ARMING_RUDDER=0")
            self.arm_vehicle()
            try:
                self.disarm_motors_with_rc_input(watch_for_disabled=True)
            except NotAchievedException:
                pass
            if not self.armed():
                raise NotAchievedException(
                    "Disarmed with rudder when ARMING_RUDDER=0")
            self.disarm_vehicle()
            self.wait_heartbeat()
            self.start_subtest("Test disarming failure with ARMING_RUDDER=1")
            self.set_parameter("ARMING_RUDDER", 1)
            self.arm_vehicle()
            try:
                self.disarm_motors_with_rc_input()
            except NotAchievedException:
                pass
            if not self.armed():
                raise NotAchievedException(
                    "Disarmed with rudder with ARMING_RUDDER=1")
            self.disarm_vehicle()
            self.wait_heartbeat()
            self.set_parameter("ARMING_RUDDER", 2)

            if self.is_copter():
                self.start_subtest("Test arming failure with interlock enabled")
                self.set_rc(interlock_channel, 2000)
                try:
                    self.arm_motors_with_rc_input()
                except NotAchievedException:
                    pass
                if self.armed():
                    raise NotAchievedException(
                        "Armed with RC input when interlock enabled")
                try:
                    self.arm_motors_with_switch(arming_switch)
                except NotAchievedException:
                    pass
                if self.armed():
                    raise NotAchievedException("Armed with switch when interlock enabled")
                self.disarm_vehicle()
                self.wait_heartbeat()
                self.set_rc(arming_switch, 1000)
                self.set_rc(interlock_channel, 1000)
                if self.is_heli():
                    self.start_subtest("Test motor interlock enable can't be set while disarmed")
                    self.set_rc(interlock_channel, 2000)
                    channel_field = "servo%u_raw" % interlock_channel
                    interlock_value = self.get_parameter("SERVO%u_MIN" % interlock_channel)
                    tstart = self.get_sim_time()
                    while True:
                        if self.get_sim_time_cached() - tstart > 20:
                            self.set_rc(interlock_channel, 1000)
                            break # success!
                        m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
                                                blocking=True,
                                                timeout=2)
                        if m is None:
                            continue
                        m_value = getattr(m, channel_field, None)
                        if m_value is None:
                            self.set_rc(interlock_channel, 1000)
                            raise ValueError("Message has no %s field" %
                                             channel_field)
                        self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" %
                                      (channel_field, m_value, interlock_value))
                        if m_value != interlock_value:
                            self.set_rc(interlock_channel, 1000)
                            raise NotAchievedException("Motor interlock was changed while disarmed")
                self.set_rc(interlock_channel, 1000)

        self.start_subtest("Test all mode arming")
        self.wait_ready_to_arm()

        if self.arming_test_mission() is not None:
            self.load_mission(self.arming_test_mission())

        for mode in self.mav.mode_mapping():
            self.drain_mav()
            self.start_subtest("Mode : %s" % mode)
            if mode == "FOLLOW":
                self.set_parameter("FOLL_ENABLE", 1)
            if mode in self.get_normal_armable_modes_list():
                self.progress("Armable mode : %s" % mode)
                self.change_mode(mode)
                self.arm_vehicle()
                self.disarm_vehicle()
                self.progress("PASS arm mode : %s" % mode)
            if mode in self.get_not_armable_mode_list():
                if mode in self.get_not_disarmed_settable_modes_list():
                    self.progress("Not settable mode : %s" % mode)
                    try:
                        self.change_mode(mode, timeout=15)
                    except AutoTestTimeoutException:
                        self.progress("PASS not able to set mode : %s disarmed" % mode)
                    except ValueError:
                        self.progress("PASS not able to set mode : %s disarmed" % mode)
                else:
                    self.progress("Not armable mode : %s" % mode)
                    self.change_mode(mode)
                    self.run_cmd(
                        mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
                        p1=1,  # ARM
                        want_result=mavutil.mavlink.MAV_RESULT_FAILED,
                    )
                self.progress("PASS not able to arm in mode : %s" % mode)
            if mode in self.get_position_armable_modes_list():
                self.progress("Armable mode needing Position : %s" % mode)
                self.wait_ekf_happy()
                self.change_mode(mode)
                self.arm_vehicle()
                self.wait_heartbeat()
                self.disarm_vehicle()
                self.progress("PASS arm mode : %s" % mode)
                self.progress("Not armable mode without Position : %s" % mode)
                self.wait_gps_disable()
                self.change_mode(mode)
                self.run_cmd(
                    mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
                    p1=1,  # ARM
                    want_result=mavutil.mavlink.MAV_RESULT_FAILED,
                )
                self.set_parameter("SIM_GPS1_ENABLE", 1)
                self.wait_ekf_happy() # EKF may stay unhappy for a while
                self.progress("PASS not able to arm without Position in mode : %s" % mode)
            if mode in self.get_no_position_not_settable_modes_list():
                self.progress("Setting mode need Position : %s" % mode)
                self.wait_ekf_happy()
                self.wait_gps_disable()
                try:
                    self.change_mode(mode, timeout=15)
                except AutoTestTimeoutException:
                    self.set_parameter("SIM_GPS1_ENABLE", 1)
                    self.progress("PASS not able to set mode without Position : %s" % mode)
                except ValueError:
                    self.set_parameter("SIM_GPS1_ENABLE", 1)
                    self.progress("PASS not able to set mode without Position : %s" % mode)
            if mode == "FOLLOW":
                self.set_parameter("FOLL_ENABLE", 0)
        self.change_mode(self.default_mode())
        if self.armed():
            self.disarm_vehicle()

        # we should find at least one Armed event and one disarmed
        # event, and at least one ARM message for arm and disarm
        wants = set([
            ("Armed EV message",  "EV", lambda e : e.Id == 10),
            ("Disarmed EV message",  "EV", lambda e : e.Id == 11),
            ("Armed ARM message",  "ARM", lambda a : a.ArmState == 1),
            ("Disarmed ARM message",  "ARM", lambda a : a.ArmState == 0),
        ])

        dfreader = self.dfreader_for_current_onboard_log()
        types = set()
        for (name, msgtype, l) in wants:
            types.add(msgtype)

        while True:
            m = dfreader.recv_match(type=types)
            if m is None:
                break
            wantscopy = copy.copy(wants)
            for want in wantscopy:
                (name, msgtype, l) = want
                if m.get_type() != msgtype:
                    continue
                if l(m):
                    self.progress("Found %s" % name)
                    wants.discard(want)
                    if len(wants) == 0:
                        break

        if len(wants):
            msg = ", ".join([x[0] for x in wants])
            raise NotAchievedException("Did not find (%s)" % msg)

        self.progress("ALL PASS")
    # TODO : Test arming magic;

    def measure_message_rate(self, victim_message, timeout=10, mav=None):
        if mav is None:
            mav = self.mav
        tstart = self.get_sim_time()
        count = 0
        while self.get_sim_time_cached() < tstart + timeout:
            m = mav.recv_match(
                type=victim_message,
                blocking=True,
                timeout=0.1
            )
            if m is not None:
                count += 1
            if mav != self.mav:
                self.drain_mav(self.mav)

        time_delta = self.get_sim_time_cached() - tstart
        self.progress("%s count after %f seconds: %u" %
                      (victim_message, time_delta, count))
        return count/time_delta

    def rate_to_interval_us(self, rate):
        return 1/float(rate)*1000000.0

    def interval_us_to_rate(self, interval):
        if interval == 0:
            raise ValueError("Zero interval is infinite rate")
        return 1000000.0/float(interval)

    def set_message_rate_hz(self, id, rate_hz, mav=None, run_cmd=None):
        '''set a message rate in Hz; 0 for original, -1 to disable'''
        if run_cmd is None:
            run_cmd = self.run_cmd
        if isinstance(id, str):
            id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % id)
        if rate_hz == 0 or rate_hz == -1:
            set_interval = rate_hz
        else:
            set_interval = self.rate_to_interval_us(rate_hz)
        run_cmd(
            mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
            p1=id,
            p2=set_interval,
            mav=mav,
        )

    def get_message_rate_hz(self, id, mav=None, run_cmd=None):
        '''return rate message is being sent, in Hz'''
        if run_cmd is None:
            run_cmd = self.run_cmd

        interval = self.get_message_interval(id, mav=mav, run_cmd=run_cmd)
        return self.interval_us_to_rate(interval)

    def send_get_message_interval(self, victim_message, mav=None):
        if mav is None:
            mav = self.mav
        if isinstance(victim_message, str):
            victim_message = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % victim_message)
        mav.mav.command_long_send(
            1,
            1,
            mavutil.mavlink.MAV_CMD_GET_MESSAGE_INTERVAL,
            1,  # confirmation
            float(victim_message),
            0,
            0,
            0,
            0,
            0,
            0)

    def get_message_interval(self, victim_message, mav=None, run_cmd=None):
        '''returns message interval in microseconds'''
        if run_cmd is None:
            run_cmd = self.run_cmd

        self.send_get_message_interval(victim_message, mav=mav)
        m = self.assert_receive_message('MESSAGE_INTERVAL', mav=mav)

        if isinstance(victim_message, str):
            victim_message = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % victim_message)
        if m.message_id != victim_message:
            raise NotAchievedException(f"Unexpected ID in MESSAGE_INTERVAL (want={victim_message}, got={m.message_id}")

        return m.interval_us

    def set_message_interval(self, victim_message, interval_us, mav=None):
        '''sets message interval in microseconds'''
        if isinstance(victim_message, str):
            victim_message = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % victim_message)
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
            p1=victim_message,
            p2=interval_us,
            mav=mav,
        )

    def test_rate(self,
                  desc,
                  in_rate,
                  expected_rate
                  , mav=None,
                  victim_message="VFR_HUD",
                  ndigits=0,
                  message_rate_sample_period=10):
        if mav is None:
            mav = self.mav

        self.progress("###### %s" % desc)
        self.progress("Setting rate to %f" % round(in_rate, ndigits=ndigits))

        self.set_message_rate_hz(victim_message, in_rate, mav=mav)

        new_measured_rate = self.measure_message_rate(victim_message, timeout=message_rate_sample_period, mav=mav)
        self.progress(
            "Measured rate: %f (want %f)" %
            (round(new_measured_rate, ndigits=ndigits),
             round(expected_rate, ndigits=ndigits))
        )
        notachieved_ex = None
        if round(new_measured_rate, ndigits=ndigits) != round(expected_rate, ndigits=ndigits):
            notachieved_ex = NotAchievedException(
                "Rate not achieved (got %f want %f)" %
                (round(new_measured_rate, ndigits),
                 round(expected_rate, ndigits)))

        # make sure get_message_interval works:
        self.send_get_message_interval(victim_message, mav=mav)

        m = self.assert_receive_message('MESSAGE_INTERVAL', timeout=30, mav=mav)

        if in_rate == 0:
            want = self.rate_to_interval_us(expected_rate)
        elif in_rate == -1:
            want = in_rate
        else:
            want = self.rate_to_interval_us(in_rate)

        if m.interval_us != want:
            raise NotAchievedException("Did not read same interval back from autopilot: want=%d got=%d)" %
                                       (want, m.interval_us))
        m = self.assert_receive_message('COMMAND_ACK', mav=mav)
        if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
            raise NotAchievedException("Expected ACCEPTED for reading message interval")

        if notachieved_ex is not None:
            raise notachieved_ex

    def SET_MESSAGE_INTERVAL(self):
        '''Test MAV_CMD_SET_MESSAGE_INTERVAL'''
        self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger
        self.reboot_sitl() # needed for CAM1_TYPE to take effect
        self.start_subtest('Basic tests')
        self.test_set_message_interval_basic()
        self.start_subtest('Many-message tests')
        self.test_set_message_interval_many()

    def MESSAGE_INTERVAL_COMMAND_INT(self):
        '''Test MAV_CMD_SET_MESSAGE_INTERVAL works as COMMAND_INT'''
        original_rate = round(self.measure_message_rate("VFR_HUD", 20))
        self.context_set_message_rate_hz('VFR_HUD', original_rate*2, run_cmd=self.run_cmd_int)
        if abs(original_rate*2 - round(self.get_message_rate_hz("VFR_HUD", run_cmd=self.run_cmd_int))) > 1:
            raise NotAchievedException("Did not set rate")

        # Try setting a rate well beyond SCHED_LOOP_RATE
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
            p1=mavutil.mavlink.MAVLINK_MSG_ID_VFR_HUD,
            p2=self.rate_to_interval_us(800),
            want_result=mavutil.mavlink.MAV_RESULT_DENIED,
        )

        self.start_subtest("Use REQUEST_MESSAGE via COMMAND_INT")
        # 148 is AUTOPILOT_VERSION:
        self.context_collect('AUTOPILOT_VERSION')
        self.run_cmd_int(mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE, 148)
        self.delay_sim_time(2)
        count = len(self.context_collection('AUTOPILOT_VERSION'))
        if count != 1:
            raise NotAchievedException(f"Did not get single AUTOPILOT_VERSION message (count={count}")

    def test_set_message_interval_many(self):
        messages = [
            'CAMERA_FEEDBACK',
            'RAW_IMU',
            'ATTITUDE',
        ]
        ex = None
        try:
            rate = 5
            for message in messages:
                self.set_message_rate_hz(message, rate)
            for message in messages:
                self.assert_message_rate_hz(message, rate)
        except Exception as e:
            self.print_exception_caught(e)
            ex = e

        # reset message rates to default:
        for message in messages:
            self.set_message_rate_hz(message, -1)

        if ex is not None:
            raise ex

    def assert_message_rate_hz(self, message, want_rate, sample_period=20, ndigits=0, mav=None):
        if mav is None:
            mav = self.mav
        self.drain_mav(mav)
        rate = round(self.measure_message_rate(message, sample_period, mav=mav), ndigits=ndigits)
        self.progress("%s: Want=%f got=%f" % (message, round(want_rate, ndigits=ndigits), round(rate, ndigits=ndigits)))
        if rate != want_rate:
            raise NotAchievedException("Did not get expected rate (want=%f got=%f)" % (want_rate, rate))

    def test_set_message_interval_basic(self):
        ex = None
        try:
            rate = round(self.measure_message_rate("VFR_HUD", 20))
            self.progress("Initial rate: %u" % rate)

            self.test_rate("Test set to %u" % (rate/2,), rate/2, rate/2, victim_message="VFR_HUD")
            # this assumes the streamrates have not been played with:
            self.test_rate("Resetting original rate using 0-value", 0, rate)
            self.test_rate("Disabling using -1-value", -1, 0)
            self.test_rate("Resetting original rate", 0, rate)

            self.progress("try getting a message which is not ordinarily streamed out")
            rate = round(self.measure_message_rate("CAMERA_FEEDBACK", 20))
            if rate != 0:
                raise PreconditionFailedException("Already getting CAMERA_FEEDBACK")
            self.progress("try various message rates")
            for want_rate in range(5, 14):
                self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
                                         want_rate)
                self.assert_message_rate_hz('CAMERA_FEEDBACK', want_rate)

            self.progress("try at the main loop rate")
            # have to reset the speedup as MAVProxy can't keep up otherwise
            old_speedup = self.get_parameter("SIM_SPEEDUP")
            self.set_parameter("SIM_SPEEDUP", 1.0)
            # ArduPilot currently limits message rate to 80% of main loop rate:
            want_rate = self.get_parameter("SCHED_LOOP_RATE") * 0.8
            self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK,
                                     want_rate)
            rate = round(self.measure_message_rate("CAMERA_FEEDBACK", 20))
            self.set_parameter("SIM_SPEEDUP", old_speedup)
            self.progress("Want=%f got=%f" % (want_rate, rate))
            if abs(rate - want_rate) > 2:
                raise NotAchievedException("Did not get expected rate")

            self.drain_mav()

            non_existant_id = 145
            self.send_get_message_interval(non_existant_id)
            m = self.assert_receive_message('MESSAGE_INTERVAL')
            if m.interval_us != 0:
                raise NotAchievedException("Supposed to get 0 back for unsupported stream")
            m = self.assert_receive_message('COMMAND_ACK')
            if m.result != mavutil.mavlink.MAV_RESULT_FAILED:
                raise NotAchievedException("Getting rate of unsupported message is a failure")

        except Exception as e:
            self.print_exception_caught(e)
            ex = e

        self.progress("Resetting CAMERA_FEEDBACK rate to default rate")
        self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, 0)
        self.assert_message_rate_hz('CAMERA_FEEDBACK', 0)

        if ex is not None:
            raise ex

    def send_poll_message(self, message_id, target_sysid=None, target_compid=None, quiet=False, mav=None):
        if mav is None:
            mav = self.mav
        if isinstance(message_id, str):
            message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
        self.send_cmd(
            mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
            p1=message_id,
            target_sysid=target_sysid,
            target_compid=target_compid,
            quiet=quiet,
            mav=mav,
        )

    def poll_message(self, message_id, timeout=10, quiet=False, mav=None, target_sysid=None, target_compid=None):
        if mav is None:
            mav = self.mav
        if target_sysid is None:
            target_sysid = self.sysid_thismav()
        if target_compid is None:
            target_compid = 1
        if isinstance(message_id, str):
            message_id = eval("mavutil.mavlink.MAVLINK_MSG_ID_%s" % message_id)
        tstart = self.get_sim_time() # required for timeout in run_cmd_get_ack to work
        self.send_poll_message(message_id, quiet=quiet, mav=mav, target_sysid=target_sysid, target_compid=target_compid)
        self.run_cmd_get_ack(
            mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
            mavutil.mavlink.MAV_RESULT_ACCEPTED,
            timeout,
            quiet=quiet,
            mav=mav,
        )
        while True:
            if self.get_sim_time_cached() - tstart > timeout:
                raise NotAchievedException("Did not receive polled message")
            m = mav.recv_match(blocking=True,
                               timeout=0.1)
            if self.mav != mav:
                self.drain_mav()
            if m is None:
                continue
            if m.id != message_id:
                continue
            if (m.get_srcSystem() != target_sysid or
                    m.get_srcComponent() != target_compid):
                continue
            return m

    def get_messages_frame(self, msg_names):
        '''try to get a "frame" of named messages - a set of messages as close
        in time as possible'''
        msgs = {}

        def get_msgs(mav, m):
            t = m.get_type()
            if t in msg_names:
                msgs[t] = m
        self.do_timesync_roundtrip()
        self.install_message_hook(get_msgs)
        for msg_name in msg_names:
            self.send_poll_message(msg_name)
        while True:
            self.mav.recv_match(blocking=True)
            if len(msgs.keys()) == len(msg_names):
                break

        self.remove_message_hook(get_msgs)

        return msgs

    def REQUEST_MESSAGE(self, timeout=60):
        '''Test MAV_CMD_REQUEST_MESSAGE'''
        self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger
        self.reboot_sitl() # needed for CAM1_TYPE to take effect
        rate = round(self.measure_message_rate("CAMERA_FEEDBACK", 10))
        if rate != 0:
            raise PreconditionFailedException("Receiving camera feedback")
        self.poll_message("CAMERA_FEEDBACK")

    def clear_mission(self, mission_type, target_system=1, target_component=1):
        '''clear mision_type from autopilot.  Note that this does NOT actually
        send a MISSION_CLEAR_ALL message
        '''
        if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_ALL:
            # recurse
            if not self.is_tracker() and not self.is_blimp():
                self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
            if not self.is_blimp():
                self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
            if not self.is_sub() and not self.is_tracker() and not self.is_blimp():
                self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
            self.last_wp_load = time.time()
            return

        self.mav.mav.mission_count_send(target_system,
                                        target_component,
                                        0,
                                        mission_type)
        self.assert_received_message_field_values('MISSION_ACK', {
            "target_system": self.mav.mav.srcSystem,
            "target_component": self.mav.mav.srcComponent,
            "type": mavutil.mavlink.MAV_MISSION_ACCEPTED,
        })

        if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
            self.last_wp_load = time.time()

    def clear_fence_using_mavproxy(self, mavproxy, timeout=10):
        mavproxy.send("fence clear\n")
        tstart = self.get_sim_time_cached()
        while True:
            now = self.get_sim_time_cached()
            if now - tstart > timeout:
                raise AutoTestTimeoutException("FENCE_TOTAL did not go to zero")
            if self.get_parameter("FENCE_TOTAL") == 0:
                break

    def clear_fence(self):
        self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)

    # Sub does not instantiate AP_Stats.  Also see https://github.com/ArduPilot/ardupilot/issues/10247  # noqa
    def ConfigErrorLoop(self):
        '''test the sensor config error loop works and that parameter sets are persistent'''
        parameter_name = "SERVO8_MIN"
        old_parameter_value = self.get_parameter(parameter_name)
        old_sim_baro_count = self.get_parameter("SIM_BARO_COUNT")
        new_parameter_value = old_parameter_value + 5
        ex = None
        try:
            self.set_parameter("STAT_BOOTCNT", 0)
            self.set_parameter("SIM_BARO_COUNT", -1)

            if self.is_tracker():
                # starts armed...
                self.progress("Disarming tracker")
                self.disarm_vehicle(force=True)

            self.reboot_sitl(required_bootcount=1)
            self.progress("Waiting for 'Config error'")
            # SYSTEM_TIME not sent in config error loop:
            self.wait_statustext("Config error", wallclock_timeout=True)
            self.progress("Setting %s to %f" % (parameter_name, new_parameter_value))
            self.set_parameter(parameter_name, new_parameter_value)
        except Exception as e:
            ex = e

        self.progress("Resetting SIM_BARO_COUNT")
        self.set_parameter("SIM_BARO_COUNT", old_sim_baro_count)

        if self.is_tracker():
            # starts armed...
            self.progress("Disarming tracker")
            self.disarm_vehicle(force=True)

        self.progress("Calling reboot-sitl ")
        self.reboot_sitl(required_bootcount=2)

        if ex is not None:
            raise ex

        if self.get_parameter(parameter_name) != new_parameter_value:
            raise NotAchievedException("Parameter value did not stick")

    def InitialMode(self):
        '''Test initial mode switching'''
        if self.is_copter():
            init_mode = (9, "LAND")
        if self.is_rover():
            init_mode = (4, "HOLD")
        if self.is_plane():
            init_mode = (13, "TAKEOFF")
        if self.is_tracker():
            init_mode = (1, "STOP")
        if self.is_sub():
            return # NOT Supported yet
        self.context_push()
        self.set_parameter("SIM_RC_FAIL", 1)
        self.progress("Setting INITIAL_MODE to %s" % init_mode[1])
        self.set_parameter("INITIAL_MODE", init_mode[0])
        self.reboot_sitl()
        self.wait_mode(init_mode[1])
        self.progress("Testing back mode switch")
        self.set_parameter("SIM_RC_FAIL", 0)
        self.wait_for_mode_switch_poll()
        self.context_pop()
        self.reboot_sitl()

    def Gripper(self):
        '''Test gripper'''
        self.GripperType(1)  # servo
        self.GripperType(2)  # EPM

    def GripperType(self, gripper_type):
        '''test specific gripper type'''
        self.context_push()
        self.set_parameters({
            "GRIP_ENABLE": 1,
            "GRIP_GRAB": 2000,
            "GRIP_RELEASE": 1000,
            "GRIP_TYPE": gripper_type,
            "SIM_GRPS_ENABLE": 1,
            "SIM_GRPS_PIN": 8,
            "SERVO8_FUNCTION": 28,
            "SERVO8_MIN": 1000,
            "SERVO8_MAX": 2000,
            "SERVO9_MIN": 1000,
            "SERVO9_MAX": 2000,
            "RC9_OPTION": 19,
        })
        self.set_rc(9, 1500)
        self.reboot_sitl()
        self.progress("Waiting for ready to arm")
        self.wait_ready_to_arm()
        self.progress("Test gripper with RC9_OPTION")
        self.progress("Releasing load")
        # non strict string matching because of catching text issue....
        self.context_collect('STATUSTEXT')
        self.set_rc(9, 1000)
        self.wait_text("Gripper load releas(ed|ing)", regex=True, check_context=True)
        self.progress("Grabbing load")
        self.set_rc(9, 2000)
        self.wait_text("Gripper load grabb", check_context=True)
        self.context_clear_collection('STATUSTEXT')
        self.progress("Releasing load")
        self.set_rc(9, 1000)
        self.wait_text("Gripper load releas(ed|ing)", regex=True, check_context=True)
        self.progress("Grabbing load")
        self.set_rc(9, 2000)
        self.wait_text("Gripper load grabb", check_context=True)
        self.progress("Test gripper with Mavlink cmd")

        self.context_collect('STATUSTEXT')
        self.progress("Releasing load")
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_DO_GRIPPER,
            p1=1,
            p2=mavutil.mavlink.GRIPPER_ACTION_RELEASE
        )
        self.wait_text("Gripper load releas(ed|ing)", check_context=True, regex=True)
        self.progress("Grabbing load")
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_DO_GRIPPER,
            p1=1,
            p2=mavutil.mavlink.GRIPPER_ACTION_GRAB
        )
        self.wait_text("Gripper load grabb", check_context=True)

        self.context_clear_collection('STATUSTEXT')
        self.progress("Releasing load")
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_DO_GRIPPER,
            p1=1,
            p2=mavutil.mavlink.GRIPPER_ACTION_RELEASE
        )
        self.wait_text("Gripper load releas(ed|ing)", regex=True, check_context=True)

        self.progress("Grabbing load")
        self.run_cmd_int(
            mavutil.mavlink.MAV_CMD_DO_GRIPPER,
            p1=1,
            p2=mavutil.mavlink.GRIPPER_ACTION_GRAB
        )
        self.wait_text("Gripper load grabb", check_context=True)

        self.context_pop()
        self.reboot_sitl()

    def TestLocalHomePosition(self):
        """Test local home position is sent in HOME_POSITION message"""
        self.context_push()
        self.wait_ready_to_arm()

        # set home to a new location
        self.mav.mav.command_long_send(1,
                                       1,
                                       mavutil.mavlink.MAV_CMD_DO_SET_HOME,
                                       0,
                                       0,
                                       0,
                                       0,
                                       0,
                                       -35.357466,
                                       149.142589,
                                       630)

        # check home after home set
        m = self.assert_receive_message("HOME_POSITION", timeout=5)
        if abs(m.x) < 10 or abs(m.y) < 10 or abs(m.z) < 10:
            raise NotAchievedException("Failed to get local home position: (got=%u, %u, %u)", m.x, m.y, m.z)
        else:
            self.progress("Received local home position successfully: (got=%f, %f, %f)" %
                          (m.x, m.y, m.z))

        self.context_pop()
        self.reboot_sitl()

    def install_terrain_handlers_context(self):
        '''install a message handler into the current context which will
        listen for an fulfill terrain requests from ArduPilot.  Will
        die if the data is not available - but
        self.terrain_in_offline_mode can be set to true in the
        constructor to change this behaviour
        this should be called at the very top of your test context!
        '''

        def check_terrain_requests(mav, m):
            if m.get_type() != 'TERRAIN_REQUEST':
                return
            self.progress("Processing TERRAIN_REQUEST (%s)" %
                          self.dump_message_verbose(m))
            # swiped from mav_terrain.py
            for bit in range(56):
                if m.mask & (1 << bit) == 0:
                    continue

                lat = m.lat * 1.0e-7
                lon = m.lon * 1.0e-7
                bit_spacing = m.grid_spacing * 4
                (lat, lon) = mp_util.gps_offset(lat, lon,
                                                east=bit_spacing * (bit % 8),
                                                north=bit_spacing * (bit // 8))
                data = []
                for i in range(4*4):
                    y = i % 4
                    x = i // 4
                    (lat2, lon2) = mp_util.gps_offset(lat, lon,
                                                      east=m.grid_spacing * y,
                                                      north=m.grid_spacing * x)
                    # if we are in online mode then we'll try to fetch
                    # from the internet into the cache dir:
                    for i in range(120):
                        alt = self.elevationmodel.GetElevation(lat2, lon2)
                        if alt is not None:
                            break
                        if self.terrain_in_offline_mode:
                            break
                        self.progress("No elevation data for (%f %f); retry" %
                                      (lat2, lon2))
                        time.sleep(1)
                    if alt is None:
                        # no data - we can't send the packet
                        raise ValueError("No elevation data for (%f %f)" % (lat2, lon2))
                    data.append(int(alt))
                self.terrain_data_messages_sent += 1
                self.mav.mav.terrain_data_send(m.lat,
                                               m.lon,
                                               m.grid_spacing,
                                               bit,
                                               data)

        self.install_message_hook_context(check_terrain_requests)

    def install_messageprinter_handlers_context(self, messages):
        '''monitor incoming messages, print them out'''
        def check_messages(mav, m):
            if m.get_type() not in messages:
                return
            self.progress(self.dump_message_verbose(m))

        self.install_message_hook_context(check_messages)

    def SetpointGlobalPos(self, timeout=100):
        """Test set position message in guided mode."""
        # Disable heading and yaw test on rover type

        if self.is_rover():
            test_alt = True
            test_heading = False
            test_yaw_rate = False
        else:
            test_alt = True
            test_heading = True
            test_yaw_rate = True

        self.install_terrain_handlers_context()

        self.set_parameter("FS_GCS_ENABLE", 0)
        self.change_mode("GUIDED")
        self.wait_ready_to_arm()
        self.arm_vehicle()

        if self.is_copter() or self.is_heli():
            self.user_takeoff(alt_min=50)

        targetpos = self.mav.location()
        wp_accuracy = None
        if self.is_copter() or self.is_heli():
            wp_accuracy = self.get_parameter("WPNAV_RADIUS", attempts=2)
            wp_accuracy = wp_accuracy * 0.01  # cm to m
        if self.is_plane() or self.is_rover():
            wp_accuracy = self.get_parameter("WP_RADIUS", attempts=2)
        if wp_accuracy is None:
            raise ValueError()

        def to_alt_frame(alt, mav_frame):
            if mav_frame in ["MAV_FRAME_GLOBAL_RELATIVE_ALT",
                             "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",
                             "MAV_FRAME_GLOBAL_TERRAIN_ALT",
                             "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT"]:
                home = self.home_position_as_mav_location()
                return alt - home.alt
            else:
                return alt

        def send_target_position(lat, lng, alt, mav_frame):
            self.mav.mav.set_position_target_global_int_send(
                0,  # timestamp
                self.sysid_thismav(),  # target system_id
                1,  # target component id
                mav_frame,
                MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
                int(lat * 1.0e7),  # lat
                int(lng * 1.0e7),  # lon
                alt,  # alt
                0,  # vx
                0,  # vy
                0,  # vz
                0,  # afx
                0,  # afy
                0,  # afz
                0,  # yaw
                0,  # yawrate
            )

        def testpos(self, targetpos: mavutil.location, test_alt: bool, frame_name: str, frame):
            send_target_position(targetpos.lat, targetpos.lng, to_alt_frame(targetpos.alt, frame_name), frame)
            self.wait_location(
                targetpos,
                accuracy=wp_accuracy,
                timeout=timeout,
                height_accuracy=(2 if test_alt else None),
                minimum_duration=2,
            )

        for frame in MAV_FRAMES_TO_TEST:
            frame_name = mavutil.mavlink.enums["MAV_FRAME"][frame].name
            self.start_subtest("Testing Set Position in %s" % frame_name)
            self.start_subtest("Changing Latitude")
            targetpos.lat += 0.0001
            if test_alt:
                targetpos.alt += 5
            testpos(self, targetpos, test_alt, frame_name, frame)

            self.start_subtest("Changing Longitude")
            targetpos.lng += 0.0001
            if test_alt:
                targetpos.alt -= 5
            testpos(self, targetpos, test_alt, frame_name, frame)

            self.start_subtest("Revert Latitude")
            targetpos.lat -= 0.0001
            if test_alt:
                targetpos.alt += 5
            testpos(self, targetpos, test_alt, frame_name, frame)

            self.start_subtest("Revert Longitude")
            targetpos.lng -= 0.0001
            if test_alt:
                targetpos.alt -= 5
            testpos(self, targetpos, test_alt, frame_name, frame)

            if test_heading:
                self.start_subtest("Testing Yaw targeting in %s" % frame_name)
                self.progress("Changing Latitude and Heading")
                targetpos.lat += 0.0001
                if test_alt:
                    targetpos.alt += 5
                self.mav.mav.set_position_target_global_int_send(
                    0,  # timestamp
                    self.sysid_thismav(),  # target system_id
                    1,  # target component id
                    frame,
                    MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
                    MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                    MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
                    int(targetpos.lat * 1.0e7),  # lat
                    int(targetpos.lng * 1.0e7),  # lon
                    to_alt_frame(targetpos.alt, frame_name),  # alt
                    0,  # vx
                    0,  # vy
                    0,  # vz
                    0,  # afx
                    0,  # afy
                    0,  # afz
                    math.radians(42),  # yaw
                    0,  # yawrate
                )
                self.wait_location(
                    targetpos,
                    accuracy=wp_accuracy,
                    timeout=timeout,
                    height_accuracy=(2 if test_alt else None),
                    minimum_duration=2,
                )
                self.wait_heading(42, minimum_duration=5, timeout=timeout)

                self.start_subtest("Revert Latitude and Heading")
                targetpos.lat -= 0.0001
                if test_alt:
                    targetpos.alt -= 5
                self.mav.mav.set_position_target_global_int_send(
                    0,  # timestamp
                    self.sysid_thismav(),  # target system_id
                    1,  # target component id
                    frame,
                    MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
                    MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                    MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
                    int(targetpos.lat * 1.0e7),  # lat
                    int(targetpos.lng * 1.0e7),  # lon
                    to_alt_frame(targetpos.alt, frame_name),  # alt
                    0,  # vx
                    0,  # vy
                    0,  # vz
                    0,  # afx
                    0,  # afy
                    0,  # afz
                    math.radians(0),  # yaw
                    0,  # yawrate
                )
                self.wait_location(
                    targetpos,
                    accuracy=wp_accuracy,
                    timeout=timeout,
                    height_accuracy=(2 if test_alt else None),
                    minimum_duration=2,
                )
                self.wait_heading(0, minimum_duration=5, timeout=timeout)

            if test_yaw_rate:
                self.start_subtest("Testing Yaw Rate targeting in %s" % frame_name)

                def send_yaw_rate(rate, target=None):
                    self.mav.mav.set_position_target_global_int_send(
                        0,  # timestamp
                        self.sysid_thismav(),  # target system_id
                        1,  # target component id
                        frame,
                        MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE,
                        int(targetpos.lat * 1.0e7),  # lat
                        int(targetpos.lng * 1.0e7),  # lon
                        to_alt_frame(targetpos.alt, frame_name),  # alt
                        0,  # vx
                        0,  # vy
                        0,  # vz
                        0,  # afx
                        0,  # afy
                        0,  # afz
                        0,  # yaw
                        rate,  # yawrate in rad/s
                    )

                self.start_subtest("Changing Latitude and Yaw rate")
                target_rate = 1.0  # in rad/s
                targetpos.lat += 0.0001
                if test_alt:
                    targetpos.alt += 5
                self.wait_yaw_speed(target_rate, timeout=timeout,
                                    called_function=lambda plop, empty: send_yaw_rate(
                                        target_rate, None), minimum_duration=5)
                self.wait_location(
                    targetpos,
                    accuracy=wp_accuracy,
                    timeout=timeout,
                    height_accuracy=(2 if test_alt else None),
                )

                self.start_subtest("Revert Latitude and invert Yaw rate")
                target_rate = -1.0
                targetpos.lat -= 0.0001
                if test_alt:
                    targetpos.alt -= 5
                self.wait_yaw_speed(target_rate, timeout=timeout,
                                    called_function=lambda plop, empty: send_yaw_rate(
                                        target_rate, None), minimum_duration=5)
                self.wait_location(
                    targetpos,
                    accuracy=wp_accuracy,
                    timeout=timeout,
                    height_accuracy=(2 if test_alt else None),
                )
                self.start_subtest("Changing Yaw rate to zero")
                target_rate = 0.0
                self.wait_yaw_speed(target_rate, timeout=timeout,
                                    called_function=lambda plop, empty: send_yaw_rate(
                                        target_rate, None), minimum_duration=5)

        self.progress("Getting back to home and disarm")
        self.do_RTL(distance_min=0, distance_max=wp_accuracy)
        self.disarm_vehicle()

    def SetpointBadVel(self, timeout=30):
        '''try feeding in a very, very bad velocity and make sure it is ignored'''
        self.takeoff(mode='GUIDED')
        # following values from a real log:
        target_speed = Vector3(-3.6019095525029597e+30,
                               1.7796490496925177e-41,
                               3.0557017120313744e-26)

        self.progress("Feeding in bad global data, hoping we don't move")

        def send_speed_vector_global_int(vector , mav_frame):
            self.mav.mav.set_position_target_global_int_send(
                0,  # timestamp
                self.sysid_thismav(),  # target system_id
                1,  # target component id
                mav_frame,
                MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
                0,
                0,
                0,
                vector.x,  # vx
                vector.y,  # vy
                vector.z,  # vz
                0,  # afx
                0,  # afy
                0,  # afz
                0,  # yaw
                0,  # yawrate
            )
        self.wait_speed_vector(
            Vector3(0, 0, 0),
            timeout=timeout,
            called_function=lambda plop, empty: send_speed_vector_global_int(target_speed, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT),  # noqa
            minimum_duration=10
        )

        self.progress("Feeding in bad local data, hoping we don't move")

        def send_speed_vector_local_ned(vector , mav_frame):
            self.mav.mav.set_position_target_local_ned_send(
                0,  # timestamp
                self.sysid_thismav(),  # target system_id
                1,  # target component id
                mav_frame,
                MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
                0,
                0,
                0,
                vector.x,  # vx
                vector.y,  # vy
                vector.z,  # vz
                0,  # afx
                0,  # afy
                0,  # afz
                0,  # yaw
                0,  # yawrate
            )
        self.wait_speed_vector(
            Vector3(0, 0, 0),
            timeout=timeout,
            called_function=lambda plop, empty: send_speed_vector_local_ned(target_speed, mavutil.mavlink.MAV_FRAME_LOCAL_NED),  # noqa
            minimum_duration=10
        )

        self.do_RTL()

    def SetpointGlobalVel(self, timeout=30):
        """Test set position message in guided mode."""
        # Disable heading and yaw rate test on rover type
        if self.is_rover():
            test_vz = False
            test_heading = False
            test_yaw_rate = False
        else:
            test_vz = True
            test_heading = True
            test_yaw_rate = True

        self.install_terrain_handlers_context()

        self.set_parameter("FS_GCS_ENABLE", 0)
        self.change_mode("GUIDED")
        self.wait_ready_to_arm()
        self.arm_vehicle()

        if self.is_copter() or self.is_heli():
            self.user_takeoff(alt_min=50)

        target_speed = Vector3(1.0, 0.0, 0.0)

        wp_accuracy = None
        if self.is_copter() or self.is_heli():
            wp_accuracy = self.get_parameter("WPNAV_RADIUS", attempts=2)
            wp_accuracy = wp_accuracy * 0.01  # cm to m
        if self.is_plane() or self.is_rover():
            wp_accuracy = self.get_parameter("WP_RADIUS", attempts=2)
        if wp_accuracy is None:
            raise ValueError()

        def send_speed_vector(vector, mav_frame):
            self.mav.mav.set_position_target_global_int_send(
                0,  # timestamp
                self.sysid_thismav(),  # target system_id
                1,  # target component id
                mav_frame,
                MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
                MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
                0,
                0,
                0,
                vector.x,  # vx
                vector.y,  # vy
                vector.z,  # vz
                0,  # afx
                0,  # afy
                0,  # afz
                0,  # yaw
                0,  # yawrate
            )

        for frame in MAV_FRAMES_TO_TEST:
            frame_name = mavutil.mavlink.enums["MAV_FRAME"][frame].name
            self.start_subtest("Testing Set Velocity in %s" % frame_name)
            self.progress("Changing Vx speed")
            self.wait_speed_vector(
                target_speed,
                timeout=timeout,
                called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
                minimum_duration=2
            )

            self.start_subtest("Add Vy speed")
            target_speed.y = 1.0
            self.wait_speed_vector(
                target_speed,
                timeout=timeout,
                called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
                minimum_duration=2)

            self.start_subtest("Add Vz speed")
            if test_vz:
                target_speed.z = 1.0
            else:
                target_speed.z = 0.0
            self.wait_speed_vector(
                target_speed,
                timeout=timeout,
                called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
                minimum_duration=2
            )

            self.start_subtest("Invert Vz speed")
            if test_vz:
                target_speed.z = -1.0
            else:
                target_speed.z = 0.0
            self.wait_speed_vector(
                target_speed,
                timeout=timeout,
                called_function=lambda plop, empty: send_speed_vector(target_speed, frame), minimum_duration=2
            )

            self.start_subtest("Invert Vx speed")
            target_speed.x = -1.0
            self.wait_speed_vector(
                target_speed,
                timeout=timeout,
                called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
                minimum_duration=2
            )

            self.start_subtest("Invert Vy speed")
            target_speed.y = -1.0
            self.wait_speed_vector(
                target_speed,
                timeout=timeout,
                called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
                minimum_duration=2
            )

            self.start_subtest("Set Speed to zero")
            target_speed.x = 0.0
            target_speed.y = 0.0
            target_speed.z = 0.0
            self.wait_speed_vector(
                target_speed,
                timeout=timeout,
                called_function=lambda plop, empty: send_speed_vector(target_speed, frame),
                minimum_duration=2
            )

            if test_heading:
                self.start_subtest("Testing Yaw targeting in %s" % frame_name)

                def send_yaw_target(yaw, mav_frame):
                    self.mav.mav.set_position_target_global_int_send(
                        0,  # timestamp
                        self.sysid_thismav(),  # target system_id
                        1,  # target component id
                        mav_frame,
                        MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
                        0,
                        0,
                        0,
                        0,  # vx
                        0,  # vy
                        0,  # vz
                        0,  # afx
                        0,  # afy
                        0,  # afz
                        math.radians(yaw),  # yaw
                        0,  # yawrate
                    )

                target_speed.x = 1.0
                target_speed.y = 1.0
                if test_vz:
                    target_speed.z = -1.0
                else:
                    target_speed.z = 0.0

                def send_yaw_target_vel(yaw, vector, mav_frame):
                    self.mav.mav.set_position_target_global_int_send(
                        0,  # timestamp
                        self.sysid_thismav(),  # target system_id
                        1,  # target component id
                        mav_frame,
                        MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
                        0,
                        0,
                        0,
                        vector.x,  # vx
                        vector.y,  # vy
                        vector.z,  # vz
                        0,  # afx
                        0,  # afy
                        0,  # afz
                        math.radians(yaw),  # yaw
                        0,  # yawrate
                    )

                self.start_subtest("Target a fixed Heading")
                target_yaw = 42.0
                self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout,
                                  called_function=lambda plop, empty: send_yaw_target(target_yaw, frame))

                self.start_subtest("Set target Heading")
                target_yaw = 0.0
                self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout,
                                  called_function=lambda plop, empty: send_yaw_target(target_yaw, frame))

                self.start_subtest("Add Vx, Vy, Vz speed and target a fixed Heading")
                target_yaw = 42.0
                self.wait_heading(
                    target_yaw,
                    minimum_duration=5,
                    timeout=timeout,
                    called_function=lambda p, e: send_yaw_target_vel(target_yaw,
                                                                     target_speed,
                                                                     frame)
                )
                self.wait_speed_vector(
                    target_speed,
                    called_function=lambda p, e: send_yaw_target_vel(target_yaw,
                                                                     target_speed,
                                                                     frame)
                )

                self.start_subtest("Stop Vx, Vy, Vz speed and target zero Heading")
                target_yaw = 0.0
                target_speed.x = 0.0
                target_speed.y = 0.0
                target_speed.z = 0.0
                self.wait_heading(target_yaw, minimum_duration=5, timeout=timeout,
                                  called_function=lambda plop, empty: send_yaw_target_vel(target_yaw, target_speed, frame))
                self.wait_speed_vector(
                    target_speed,
                    timeout=timeout,
                    called_function=lambda p, ee: send_yaw_target_vel(target_yaw,
                                                                      target_speed,
                                                                      frame),
                    minimum_duration=2
                )

            if test_yaw_rate:
                self.start_subtest("Testing Yaw Rate targeting in %s" % frame_name)

                def send_yaw_rate(rate, mav_frame):
                    self.mav.mav.set_position_target_global_int_send(
                        0,  # timestamp
                        self.sysid_thismav(),  # target system_id
                        1,  # target component id
                        mav_frame,
                        MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE,
                        0,
                        0,
                        0,
                        0,  # vx
                        0,  # vy
                        0,  # vz
                        0,  # afx
                        0,  # afy
                        0,  # afz
                        0,  # yaw
                        rate,  # yawrate in rad/s
                    )

                target_speed.x = 1.0
                target_speed.y = 1.0
                if test_vz:
                    target_speed.z = -1.0
                else:
                    target_speed.z = 0.0

                def send_yaw_rate_vel(rate, vector, mav_frame):
                    self.mav.mav.set_position_target_global_int_send(
                        0,  # timestamp
                        self.sysid_thismav(),  # target system_id
                        1,  # target component id
                        mav_frame,
                        MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
                        MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE,
                        0,
                        0,
                        0,
                        vector.x,  # vx
                        vector.y,  # vy
                        vector.z,  # vz
                        0,  # afx
                        0,  # afy
                        0,  # afz
                        0,  # yaw
                        rate,  # yawrate in rad/s
                    )

                self.start_subtest("Set Yaw rate")
                target_rate = 1.0
                self.wait_yaw_speed(target_rate, timeout=timeout,
                                    called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2)

                self.start_subtest("Invert Yaw rate")
                target_rate = -1.0
                self.wait_yaw_speed(target_rate, timeout=timeout,
                                    called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2)

                self.start_subtest("Stop Yaw rate")
                target_rate = 0.0
                self.wait_yaw_speed(target_rate, timeout=timeout,
                                    called_function=lambda plop, empty: send_yaw_rate(target_rate, frame), minimum_duration=2)

                self.start_subtest("Set Yaw Rate and Vx, Vy, Vz speed")
                target_rate = 1.0
                self.wait_yaw_speed(
                    target_rate,
                    called_function=lambda p, e: send_yaw_rate_vel(target_rate,
                                                                   target_speed,
                                                                   frame),
                    minimum_duration=2
                )
                self.wait_speed_vector(
                    target_speed,
                    timeout=timeout,
                    called_function=lambda p, e: send_yaw_rate_vel(target_rate,
                                                                   target_speed,
                                                                   frame),
                    minimum_duration=2
                )

                target_rate = -1.0
                target_speed.x = -1.0
                target_speed.y = -1.0
                if test_vz:
                    target_speed.z = 1.0
                else:
                    target_speed.z = 0.0
                self.start_subtest("Invert Vx, Vy, Vz speed")
                self.wait_yaw_speed(
                    target_rate,
                    timeout=timeout,
                    called_function=lambda p, e: send_yaw_rate_vel(target_rate,
                                                                   target_speed,
                                                                   frame),
                    minimum_duration=2
                )
                self.wait_speed_vector(
                    target_speed,
                    timeout=timeout,
                    called_function=lambda p, e: send_yaw_rate_vel(target_rate,
                                                                   target_speed,
                                                                   frame),
                    minimum_duration=2
                )

                target_rate = 0.0
                target_speed.x = 0.0
                target_speed.y = 0.0
                target_speed.z = 0.0
                self.start_subtest("Stop Yaw rate and all speed")
                self.wait_yaw_speed(
                    target_rate,
                    timeout=timeout,
                    called_function=lambda p, e: send_yaw_rate_vel(target_rate,
                                                                   target_speed,
                                                                   frame),
                    minimum_duration=2
                )
                self.wait_speed_vector(
                    target_speed,
                    timeout=timeout,
                    called_function=lambda p, e: send_yaw_rate_vel(target_rate,
                                                                   target_speed,
                                                                   frame),
                    minimum_duration=2
                )

        self.progress("Getting back to home and disarm")
        self.do_RTL(distance_min=0, distance_max=wp_accuracy)
        self.disarm_vehicle()

    def is_blimp(self):
        return False

    def is_copter(self):
        return False

    def is_sub(self):
        return False

    def is_plane(self):
        return False

    def is_rover(self):
        return False

    def is_balancebot(self):
        return False

    def is_heli(self):
        return False

    def is_tracker(self):
        return False

    def initial_mode(self):
        '''return mode vehicle should start in with no RC inputs set'''
        return None

    def initial_mode_switch_mode(self):
        '''return mode vehicle should start in with default RC inputs set'''
        return None

    def upload_fences_from_locations(self, fences, target_system=1, target_component=1):
        seq = 0
        items = []

        for (vertex_type, locs) in fences:
            if isinstance(locs, dict):
                # circular fence
                item = self.mav.mav.mission_item_int_encode(
                    target_system,
                    target_component,
                    seq, # seq
                    mavutil.mavlink.MAV_FRAME_GLOBAL,
                    vertex_type,
                    0, # current
                    0, # autocontinue
                    locs["radius"], # p1
                    0, # p2
                    0, # p3
                    0, # p4
                    int(locs["loc"].lat * 1e7), # latitude
                    int(locs["loc"].lng * 1e7), # longitude
                    33.0000, # altitude
                    mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
                seq += 1
                items.append(item)
                continue
            count = len(locs)
            for loc in locs:
                item = self.mav.mav.mission_item_int_encode(
                    target_system,
                    target_component,
                    seq, # seq
                    mavutil.mavlink.MAV_FRAME_GLOBAL,
                    vertex_type,
                    0, # current
                    0, # autocontinue
                    count, # p1
                    0, # p2
                    0, # p3
                    0, # p4
                    int(loc.lat * 1e7), # latitude
                    int(loc.lng * 1e7), # longitude
                    33.0000, # altitude
                    mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
                seq += 1
                items.append(item)

        self.check_fence_upload_download(items)

    def rally_MISSION_ITEM_INT_from_loc(self, loc):
        return self.create_MISSION_ITEM_INT(
            mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
            x=int(loc.lat*1e7),
            y=int(loc.lng*1e7),
            z=loc.alt,
            frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
            mission_type=mavutil.mavlink.MAV_MISSION_TYPE_RALLY
        )

    def upload_rally_points_from_locations(self, rally_point_locs):
        '''takes a sequence of locations, sets vehicle rally points to those locations'''
        items = [self.rally_MISSION_ITEM_INT_from_loc(x) for x in rally_point_locs]
        self.correct_wp_seq_numbers(items)
        self.check_rally_upload_download(items)

    def wait_for_initial_mode(self):
        '''wait until we get a heartbeat with an expected initial mode (the
one specified in the vehicle constructor)'''
        want = self.initial_mode()
        if want is None:
            return
        self.progress("Waiting for initial mode %s" % want)
        self.wait_mode(want)

    def wait_for_mode_switch_poll(self):
        '''look for a transition from boot-up-mode (e.g. the flightmode
specified in Copter's constructor) to the one specified by the mode
switch value'''
        want = self.initial_mode_switch_mode()
        if want is None:
            return
        self.progress("Waiting for mode-switch mode %s" % want)
        self.wait_mode(want)

    def start_subtest(self, description):
        self.progress("-")
        self.progress("---------- %s  ----------" % description)
        self.progress("-")

    def start_subsubtest(self, description):
        self.progress(".")
        self.progress(".......... %s  .........." % description)
        self.progress(".")

    def end_subtest(self, description):
        '''TODO: sanity checks?'''
        pass

    def end_subsubtest(self, description):
        '''TODO: sanity checks?'''
        pass

    def last_onboard_log(self):
        '''return number of last onboard log'''
        mavproxy = self.start_mavproxy()
        mavproxy.send("module load log\n")
        loaded_module = False
        mavproxy.expect(["Loaded module log", "module log already loaded"])
        if mavproxy.match.group(0) == "Loaded module log":
            loaded_module = True
        mavproxy.send("log list\n")
        mavproxy.expect(["lastLog ([0-9]+)", "No logs"])
        if mavproxy.match.group(0) == "No logs":
            num_log = None
        else:
            num_log = int(mavproxy.match.group(1))
        if loaded_module:
            mavproxy.send("module unload log\n")
            mavproxy.expect("Unloaded module log")
        self.stop_mavproxy(mavproxy)
        return num_log

    def current_onboard_log_number(self):
        logs = self.download_full_log_list(print_logs=False)
        return sorted(logs.keys())[-1]

    def current_onboard_log_filepath(self):
        '''return filepath to currently open dataflash log.  We assume that's
        the latest log...'''
        logs = self.log_list()
        latest = logs[-1]
        return latest

    def dfreader_for_path(self, path):
        return DFReader.DFReader_binary(path,
                                        zero_time_base=True)

    def dfreader_for_current_onboard_log(self):
        return self.dfreader_for_path(self.current_onboard_log_filepath())

    def current_onboard_log_contains_message(self, messagetype):
        self.progress("Checking (%s) for (%s)" %
                      (self.current_onboard_log_filepath(), messagetype))
        dfreader = self.dfreader_for_current_onboard_log()
        m = dfreader.recv_match(type=messagetype)
        print("m=%s" % str(m))
        return m is not None

    def assert_current_onboard_log_contains_message(self, messagetype):
        if not self.current_onboard_log_contains_message(messagetype):
            raise NotAchievedException("Current onboard log does not contain message %s" % messagetype)

    def run_tests(self, tests) -> List[Result]:
        """Autotest vehicle in SITL."""
        if self.run_tests_called:
            raise ValueError("run_tests called twice")
        self.run_tests_called = True

        result_list = []

        try:
            self.init()

            self.progress("Waiting for a heartbeat with mavlink protocol %s"
                          % self.mav.WIRE_PROTOCOL_VERSION)
            self.wait_heartbeat()
            self.wait_for_initial_mode()
            self.progress("Setting up RC parameters")
            self.set_rc_default()
            self.wait_for_mode_switch_poll()
            if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling
                self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)

            for test in tests:
                self.drain_mav_unparsed()
                result_list.append(self.run_one_test(test))

        except pexpect.TIMEOUT:
            self.progress("Failed with timeout")
            result = Result(test)
            result.passed = False
            result.reason = "Failed with timeout"
            result_list.append(result)
            if self.logs_dir:
                if glob.glob("core*") or glob.glob("ap-*.core"):
                    self.check_logs("FRAMEWORK")

        if self.rc_thread is not None:
            self.progress("Joining RC thread")
            self.rc_thread_should_quit = True
            self.rc_thread.join()
            self.rc_thread = None

        if self.mav is not None:
            self.mav.close()
            self.mav = None

        self.stop_SITL()

        valgrind_log = util.valgrind_log_filepath(binary=self.binary,
                                                  model=self.frame)
        files = glob.glob("*" + valgrind_log)
        valgrind_failed = False
        for valgrind_log in files:
            os.chmod(valgrind_log, 0o644)
            if os.path.getsize(valgrind_log) > 0:
                target = self.buildlogs_path("%s-%s" % (
                    self.log_name(),
                    os.path.basename(valgrind_log)))
                self.progress("Valgrind log: moving %s to %s" % (valgrind_log, target))
                shutil.move(valgrind_log, target)
                valgrind_failed = True
        if valgrind_failed:
            result_list.append(ValgrindFailedResult())

        return result_list

    def dictdiff(self, dict1, dict2):
        fred = copy.copy(dict1)
        for key in dict2.keys():
            try:
                del fred[key]
            except KeyError:
                pass
        return fred

    # download parameters tries to cope with its download being
    # interrupted or broken by simply retrying the download a few
    # times.
    def download_parameters(self, target_system, target_component):
        # try a simple fetch-all:
        last_parameter_received = 0
        attempt_count = 0
        start_done = False
        # make flake8 happy:
        count = 0
        expected_count = 0
        seen_ids = {}
        self.progress("Downloading parameters")
        debug = False
        while True:
            now = self.get_sim_time_cached()
            if not start_done or now - last_parameter_received > 10:
                start_done = True
                if attempt_count > 3:
                    raise AutoTestTimeoutException("Failed to download parameters  (have %s/%s) (seen_ids-count=%u)" %
                                                   (str(count), str(expected_count), len(seen_ids.keys())))
                elif attempt_count != 0:
                    self.progress("Download failed; retrying")
                    self.delay_sim_time(1)
                    debug = True
                self.drain_mav()
                self.mav.mav.param_request_list_send(target_system, target_component)
                attempt_count += 1
                count = 0
                expected_count = None
                seen_ids = {}
                id_seq = {}
            m = self.mav.recv_match(type='PARAM_VALUE', blocking=True, timeout=10)
            if m is None:
                raise AutoTestTimeoutException("tardy PARAM_VALUE (have %s/%s)" % (
                    str(count), str(expected_count)))
            if m.param_index == 65535:
                self.progress("volunteered parameter: %s" % str(m))
                continue
            if debug:
                self.progress("  received id=%4u param_count=%4u %s=%f" %
                              (m.param_index, m.param_count, m.param_id, m.param_value))
            if m.param_index >= m.param_count:
                raise ValueError("parameter index (%u) gte parameter count (%u)" %
                                 (m.param_index, m.param_count))
            if expected_count is None:
                expected_count = m.param_count
            else:
                if m.param_count != expected_count:
                    raise ValueError("expected count changed")
            if m.param_id not in seen_ids:
                count += 1
                seen_ids[m.param_id] = m.param_value
                last_parameter_received = now
                if count == expected_count:
                    break

        self.progress("Downloaded %u parameters OK (attempt=%u)" %
                      (count, attempt_count))
        return (seen_ids, id_seq)

    def test_parameters_download(self):
        self.start_subtest("parameter download")
        target_system = self.sysid_thismav()
        target_component = 1
        self.progress("First Download:")
        (parameters, seq_id) = self.download_parameters(target_system, target_component)
        self.reboot_sitl()
        self.progress("Second download:")
        (parameters2, seq2_id) = self.download_parameters(target_system, target_component)

        delta = self.dictdiff(parameters, parameters2)
        if len(delta) != 0:
            raise ValueError("Got %u fewer parameters when downloading second time (before=%u vs after=%u) (delta=%s)" %
                             (len(delta), len(parameters), len(parameters2), str(delta.keys())))

        delta = self.dictdiff(parameters2, parameters)
        if len(delta) != 0:
            raise ValueError("Got %u extra parameters when downloading second time (before=%u vs after=%u) (delta=%s)" %
                             (len(delta), len(parameters), len(parameters2), str(delta.keys())))

        self.end_subsubtest("parameter download")

    def test_enable_parameter(self):
        self.start_subtest("enable parameters")
        target_system = 1
        target_component = 1
        parameters = self.download_parameters(target_system, target_component)
        enable_parameter = self.sample_enable_parameter()
        if enable_parameter is None:
            self.progress("Skipping enable parameter check as no enable parameter supplied")
            return
        self.set_parameter(enable_parameter, 1)
        parameters2 = self.download_parameters(target_system, target_component)
        if len(parameters) == len(parameters2):
            raise NotAchievedException("Enable parameter did not increase no of parameters downloaded")
        self.end_subsubtest("enable download")

    def test_parameters_mis_total(self):
        self.start_subsubtest("parameter mis_total")
        if self.is_tracker():
            # uses CMD_TOTAL not MIS_TOTAL, and it's in a scalr not a
            # group and it's generally all bad.
            return
        self.start_subtest("Ensure GCS is not able to set MIS_TOTAL")
        old_mt = self.get_parameter("MIS_TOTAL", attempts=20) # retries to avoid seeming race condition with MAVProxy
        ex = None
        try:
            self.set_parameter("MIS_TOTAL", 17, attempts=1)
        except ValueError as e:
            ex = e
        if ex is None:
            raise NotAchievedException("Set parameter when I shouldn't have")
        if old_mt != self.get_parameter("MIS_TOTAL"):
            raise NotAchievedException("Total has changed")

        self.start_subtest("Ensure GCS is able to set other MIS_ parameters")
        self.set_parameter("MIS_OPTIONS", 1)
        if self.get_parameter("MIS_OPTIONS") != 1:
            raise NotAchievedException("Failed to set MIS_OPTIONS")

        mavproxy = self.start_mavproxy()
        from_mavproxy = self.get_parameter_mavproxy(mavproxy, "MIS_OPTIONS")
        if from_mavproxy != 1:
            raise NotAchievedException("MAVProxy failed to get parameter")
        self.stop_mavproxy(mavproxy)

    def test_parameter_documentation(self):
        '''ensure parameter documentation is valid'''
        self.start_subsubtest("Check all parameters are documented")
        self.test_parameter_documentation_get_all_parameters()

    def Parameters(self):
        '''general small tests for parameter system'''
        if self.is_balancebot():
            # same binary and parameters as Rover
            return
        self.test_parameter_documentation()
        self.test_parameters_mis_total()
        self.test_parameters_download()

    def disabled_tests(self):
        return {}

    def test_parameter_checks_poscontrol(self, param_prefix):
        self.wait_ready_to_arm()
        self.context_push()
        self.set_parameter("%s_NE_POS_P" % param_prefix, -1)
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=1,  # ARM
            timeout=4,
            want_result=mavutil.mavlink.MAV_RESULT_FAILED,
        )
        self.context_pop()
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            p1=1,  # ARM
            timeout=4,
            want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
        )
        self.disarm_vehicle()

    def assert_not_receiving_message(self, message, timeout=1, mav=None):
        self.progress("making sure we're not getting %s messages" % message)
        if mav is None:
            mav = self.mav
        m = mav.recv_match(type=message, blocking=True, timeout=timeout)
        if m is not None:
            raise PreconditionFailedException("Receiving %s messages" % message)

    def PIDTuning(self):
        '''Test PID Tuning'''
        self.assert_not_receiving_message('PID_TUNING', timeout=5)
        self.set_parameter("GCS_PID_MASK", 1)
        self.progress("making sure we are now getting PID_TUNING messages")
        self.assert_receive_message('PID_TUNING', timeout=5)

    def sample_mission_filename(self):
        return "flaps.txt"

    def AdvancedFailsafe(self):
        '''Test Advanced Failsafe'''
        ex = None
        try:
            self.drain_mav()
            if self.is_plane():  # other vehicles can always terminate
                self.assert_no_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
            self.set_parameters({
                "AFS_ENABLE": 1,
                "MAV_GCS_SYSID": self.mav.source_system,
                "RTL_AUTOLAND": 2,
            })
            self.drain_mav()
            self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
            self.set_parameter("AFS_TERM_ACTION", 42)
            self.load_sample_mission()
            self.context_collect("STATUSTEXT")
            self.change_mode("AUTO") # must go to auto for AFS to latch on
            self.wait_statustext("AFS State: AFS_AUTO", check_context=True)
            if self.is_plane():
                self.change_mode("MANUAL")
            elif self.is_copter():
                self.change_mode("STABILIZE")

            self.start_subtest("RC Failure")
            self.context_push()
            self.context_collect("STATUSTEXT")
            self.set_parameters({
                "AFS_RC_FAIL_TIME": 1,
                "SIM_RC_FAIL": 1,
            })
            self.wait_statustext("Terminating due to RC failure", check_context=True)
            self.context_pop()
            self.set_parameter("AFS_TERMINATE", 0)

            if not self.is_plane():
                # plane requires a polygon fence...
                self.start_subtest("Altitude Limit breach")
                self.set_parameters({
                    "AFS_AMSL_LIMIT": 100,
                    "AFS_QNH_PRESSURE": 1015.2,
                })
                self.do_fence_enable()
                self.wait_statustext("Terminating due to fence breach", check_context=True)
                self.set_parameter("AFS_AMSL_LIMIT", 0)
                self.set_parameter("AFS_TERMINATE", 0)
                self.do_fence_disable()

            self.start_subtest("GPS Failure")
            self.wait_ready_to_arm()
            self.context_push()
            self.context_collect("STATUSTEXT")
            self.set_parameters({
                "AFS_MAX_GPS_LOSS": 1,
                "SIM_GPS1_ENABLE": 0,
            })
            self.wait_statustext("AFS State: GPS_LOSS", check_context=True)
            self.context_pop()
            self.set_parameter("AFS_TERMINATE", 0)

            self.start_subtest("GCS Request")
            self.context_push()
            self.context_collect("STATUSTEXT")
            self.run_cmd(
                mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION,
                p1=1,  # terminate
            )
            self.wait_statustext("Terminating due to GCS request", check_context=True)
            self.context_pop()
            self.set_parameter("AFS_TERMINATE", 0)

        except Exception as e:
            ex = e
        try:
            self.do_fence_disable()
        except ValueError:
            # may not actually be enabled....
            pass
        if ex is not None:
            raise ex

    def AdvancedFailsafeBadBaro(self):
        '''ensure GPS can be used as a fallback in case of baro dying'''
        self.set_parameters({
            "AFS_ENABLE": 1,
            "MAV_GCS_SYSID": self.mav.source_system,
            "AFS_AMSL_LIMIT": 1000,
            "AFS_QNH_PRESSURE": 1000,
            "AFS_AMSL_ERR_GPS": 10,
        })
        self.wait_ready_to_arm()
        self.start_subtest("Ensuring breaking baros doesn't terminate")
        self.set_parameters({
            "SIM_BARO_DISABLE": 1,
            "SIM_BAR2_DISABLE": 1,
        })
        self.delay_sim_time(10)
        self.start_subtest("Ensuring breaking GPS does now terminate")
        self.set_parameters({
            "SIM_GPS1_ENABLE": 0,
        })
        self.wait_statustext("Terminating due to fence breach")

    def drain_mav_seconds(self, seconds):
        tstart = self.get_sim_time_cached()
        while self.get_sim_time_cached() - tstart < seconds:
            self.drain_mav()
            self.delay_sim_time(0.5)

    def wait_gps_fix_type_gte(self, fix_type, timeout=30, message_type="GPS_RAW_INT", verbose=False):
        tstart = self.get_sim_time()
        while True:
            now = self.get_sim_time_cached()
            if now - tstart > timeout:
                raise AutoTestTimeoutException("Did not get good GPS lock")
            m = self.mav.recv_match(type=message_type, blocking=True, timeout=0.1)
            if verbose:
                self.progress("Received: %s" % str(m))
            if m is None:
                continue
            if m.fix_type >= fix_type:
                break

    def NMEAOutput(self):
        '''Test AHRS NMEA Output can be read by out NMEA GPS'''
        self.set_parameter("SERIAL5_PROTOCOL", 20) # serial5 is NMEA output
        self.set_parameter("GPS2_TYPE", 5) # GPS2 is NMEA
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial4=tcp:%u" % port, # GPS2 is NMEA....
            "--serial5=tcpclient:127.0.0.1:%u" % port, # serial5 spews to localhost port
        ])
        self.do_timesync_roundtrip()
        self.wait_gps_fix_type_gte(3)
        gps1 = self.assert_receive_message("GPS_RAW_INT", timeout=10, verbose=True)
        tstart = self.get_sim_time()
        while True:
            now = self.get_sim_time_cached()
            if now - tstart > 20:
                raise NotAchievedException("NMEA output not updating?!")
            gps2 = self.mav.recv_match(type="GPS2_RAW", blocking=True, timeout=1)
            self.progress("gps2=%s" % str(gps2))
            if gps2 is None:
                continue
            if gps2.time_usec != 0:
                break
        max_distance = 1
        distance = self.get_distance_int(gps1, gps2)
        if distance > max_distance:
            raise NotAchievedException("NMEA output inaccurate (dist=%f want<%f)" %
                                       (distance, max_distance))

    def mavproxy_load_module(self, mavproxy, module):
        mavproxy.send("module load %s\n" % module)
        mavproxy.expect("Loaded module %s" % module)

    def mavproxy_unload_module(self, mavproxy, module):
        mavproxy.send("module unload %s\n" % module)
        mavproxy.expect("Unloaded module %s" % module)

    def AccelCal(self):
        '''Accelerometer Calibration testing'''
        ex = None
        mavproxy = self.start_mavproxy()
        try:
            # setup with pre-existing accel offsets, to show that existing offsets don't
            # adversely affect a new cal
            pre_aofs = [Vector3(2.8, 1.2, 1.7),
                        Vector3(0.2, -0.9, 2.9)]
            pre_ascale = [Vector3(0.95, 1.2, 0.98),
                          Vector3(1.1, 1.0, 0.93)]
            aofs = [Vector3(0.7, -0.3, 1.8),
                    Vector3(-2.1, 1.9, 2.3)]
            ascale = [Vector3(0.98, 1.12, 1.05),
                      Vector3(1.11, 0.98, 0.96)]
            atrim = Vector3(0.05, -0.03, 0)
            pre_atrim = Vector3(-0.02, 0.04, 0)
            param_map = [("INS_ACCOFFS", "SIM_ACC1_BIAS", pre_aofs[0], aofs[0]),
                         ("INS_ACC2OFFS", "SIM_ACC2_BIAS", pre_aofs[1], aofs[1]),
                         ("INS_ACCSCAL", "SIM_ACC1_SCAL", pre_ascale[0], ascale[0]),
                         ("INS_ACC2SCAL", "SIM_ACC2_SCAL", pre_ascale[1], ascale[1]),
                         ("AHRS_TRIM", "SIM_ACC_TRIM", pre_atrim, atrim)]
            axes = ['X', 'Y', 'Z']

            # form the pre-calibration params
            initial_params = {}
            for (ins_prefix, sim_prefix, pre_value, post_value) in param_map:
                for axis in axes:
                    initial_params[ins_prefix + "_" + axis] = getattr(pre_value, axis.lower())
                    initial_params[sim_prefix + "_" + axis] = getattr(post_value, axis.lower())
            self.set_parameters(initial_params)
            self.customise_SITL_commandline(["-M", "calibration"])
            self.mavproxy_load_module(mavproxy, "sitl_calibration")
            self.mavproxy_load_module(mavproxy, "calibration")
            self.mavproxy_load_module(mavproxy, "relay")
            mavproxy.send("sitl_accelcal\n")
            mavproxy.send("accelcal\n")
            mavproxy.expect("Calibrated")
            for wanted in [
                    "level",
                    "on its LEFT side",
                    "on its RIGHT side",
                    "nose DOWN",
                    "nose UP",
                    "on its BACK",
            ]:
                timeout = 2
                mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout)
                mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout)
                mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout)
                mavproxy.send("\n")
            mavproxy.expect(".*Calibration successful", timeout=timeout)
            self.drain_mav()

            self.progress("Checking results")
            accuracy_pct = 0.5
            for (ins_prefix, sim_prefix, pre_value, post_value) in param_map:
                for axis in axes:
                    pname = ins_prefix+"_"+axis
                    v = self.get_parameter(pname)
                    expected_v = getattr(post_value, axis.lower())
                    if v == expected_v:
                        continue
                    error_pct = 100.0 * abs(v - expected_v) / abs(expected_v)
                    if error_pct > accuracy_pct:
                        raise NotAchievedException(
                            "Incorrect value %.6f for %s should be %.6f error %.2f%%" %
                            (v, pname, expected_v, error_pct))
                    else:
                        self.progress("Correct value %.4f for %s error %.2f%%" % (v, pname, error_pct))
        except Exception as e:
            self.print_exception_caught(e)
            ex = e
        self.mavproxy_unload_module(mavproxy, "relay")
        self.mavproxy_unload_module(mavproxy, "calibration")
        self.mavproxy_unload_module(mavproxy, "sitl_calibration")
        self.stop_mavproxy(mavproxy)
        if ex is not None:
            raise ex

    def ahrstrim_preflight_cal(self):
        # setup with non-zero accel offsets
        self.set_parameters({
            "INS_ACCOFFS_X": 0.7,
            "INS_ACCOFFS_Y": -0.3,
            "INS_ACCOFFS_Z": 1.8,
            "INS_ACC2OFFS_X": -2.1,
            "INS_ACC2OFFS_Y": 1.9,
            "INS_ACC2OFFS_Z": 2.3,
            "SIM_ACC1_BIAS_X": 0.7,
            "SIM_ACC1_BIAS_Y": -0.3,
            "SIM_ACC1_BIAS_Z": 1.8,
            "SIM_ACC2_BIAS_X": -2.1,
            "SIM_ACC2_BIAS_Y": 1.9,
            "SIM_ACC2_BIAS_Z": 2.3,
            "AHRS_TRIM_X": 0.05,
            "AHRS_TRIM_Y": -0.03,
            "SIM_ACC_TRIM_X": -0.04,
            "SIM_ACC_TRIM_Y": 0.05,
        })
        expected_parms = {
            "AHRS_TRIM_X": -0.04,
            "AHRS_TRIM_Y": 0.05,
        }

        self.progress("Starting ahrstrim")
        self.drain_mav()
        self.mav.mav.command_long_send(self.sysid_thismav(), 1,
                                       mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
                                       0, 0, 0, 0, 2, 0, 0)
        self.wait_statustext('Trim OK')
        self.drain_mav()

        self.progress("Checking results")
        accuracy_pct = 0.2
        for (pname, expected_v) in expected_parms.items():
            v = self.get_parameter(pname)
            if v == expected_v:
                continue
            error_pct = 100.0 * abs(v - expected_v) / abs(expected_v)
            if error_pct > accuracy_pct:
                raise NotAchievedException(
                    "Incorrect value %.6f for %s should be %.6f error %.2f%%" %
                    (v, pname, expected_v, error_pct))
            self.progress("Correct value %.4f for %s error %.2f%%" %
                          (v, pname, error_pct))

    def user_takeoff(self, alt_min=30, timeout=30, max_err=5):
        '''takeoff using mavlink takeoff command'''
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
            p7=alt_min, # param7
        )
        self.wait_altitude(alt_min - 1,
                           (alt_min + max_err),
                           relative=True,
                           timeout=timeout)

    def ahrstrim_attitude_correctness(self):
        self.wait_ready_to_arm()
        HOME = self.sitl_start_location()
        for heading in 0, 90:
            self.customise_SITL_commandline([
                "--home", "%s,%s,%s,%s" % (HOME.lat, HOME.lng, HOME.alt, heading)
            ])
            for ahrs_type in [0, 2, 3, 11]:
                self.start_subsubtest("Testing AHRS_TYPE=%u" % ahrs_type)
                self.context_push()

                # Special setup for ExternalAHRS (type 11)
                if ahrs_type == 11:
                    # Test all simulated ExternalAHRS backends
                    external_ahrs_configs = [
                        {
                            "name": "VectorNav",
                            "device": "VectorNav",
                            "eahrs_type": 1,
                        },
                        {
                            "name": "MicroStrain5",
                            "device": "MicroStrain5",
                            "eahrs_type": 2,
                        },
                        {
                            "name": "InertialLabs",
                            "device": "ILabs",
                            "eahrs_type": 5,
                        },
                        {
                            "name": "MicroStrain7",
                            "device": "MicroStrain7",
                            "eahrs_type": 7,
                        },
                    ]

                    for config in external_ahrs_configs:
                        self.start_subsubtest("Testing ExternalAHRS backend: %s" % config["name"])
                        self.context_push()

                        self.customise_SITL_commandline([
                            "--serial4=sim:%s" % config["device"],
                        ])
                        self.set_parameters({
                            "EAHRS_TYPE": config["eahrs_type"],
                            "SERIAL4_PROTOCOL": 36,  # ExternalAHRS protocol
                            "SERIAL4_BAUD": 230400,
                            "GPS1_TYPE": 21,  # External AHRS
                            "AHRS_EKF_TYPE": ahrs_type,
                            "INS_GYR_CAL": 1,
                            "EAHRS_SENSORS": 0xD,  # GPS|BARO|COMPASS (exclude IMU)
                        })
                        self.reboot_sitl()
                        self.delay_sim_time(5)
                        self.progress("Running accelcal")
                        self.run_cmd(
                            mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
                            p5=4,
                            timeout=5,
                        )
                        self.wait_prearm_sys_status_healthy(timeout=120)

                        for (r, p) in [(0, 0), (9, 0), (2, -6), (10, 10)]:
                            self.set_parameters({
                                'AHRS_TRIM_X': math.radians(r),
                                'AHRS_TRIM_Y': math.radians(p),
                                "SIM_ACC_TRIM_X": math.radians(r),
                                "SIM_ACC_TRIM_Y": math.radians(p),
                            })
                            self.reboot_sitl()
                            self.context_set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SIM_STATE, 10)
                            att_desroll = 0
                            att_despitch = 0
                            if ahrs_type == 11:
                                # this is very nasty compatibility
                                # code for the fact our rotations are
                                # incorrect for ExternalAHRS eulers
                                # and rotation matrix!  It is here to
                                # ensure behaviour is preserved until
                                # we can fix the bug!  Search for
                                # "note that this is suspect" to find
                                # the problem code.
                                att_desroll = -r
                                att_despitch = -p
                            self.wait_attitude(desroll=att_desroll, despitch=att_despitch, timeout=120, tolerance=1.5)
                            if ahrs_type != 0:
                                self.wait_attitude(desroll=0, despitch=0, message_type='AHRS2', tolerance=1, timeout=120)
                            self.wait_attitude_quaternion(desroll=0, despitch=0, tolerance=1, timeout=120)
                            self.wait_attitude(desroll=0, despitch=0, message_type='SIM_STATE', tolerance=1, timeout=120)

                        self.context_pop()
                        self.reboot_sitl()

                    # Skip the normal test loop for ahrs_type 11 since we already tested it above
                    self.context_pop()
                    continue
                else:
                    self.set_parameter("AHRS_EKF_TYPE", ahrs_type)
                    self.reboot_sitl()
                self.wait_prearm_sys_status_healthy(timeout=120)
                for (r, p) in [(0, 0), (9, 0), (2, -6), (10, 10)]:
                    self.set_parameters({
                        'AHRS_TRIM_X': math.radians(r),
                        'AHRS_TRIM_Y': math.radians(p),
                        "SIM_ACC_TRIM_X": math.radians(r),
                        "SIM_ACC_TRIM_Y": math.radians(p),
                    })
                    self.reboot_sitl()
                    self.context_set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SIM_STATE, 10)
                    self.wait_attitude(desroll=0, despitch=0, timeout=120, tolerance=1.5)
                    self.wait_attitude(desroll=0, despitch=0, timeout=120, tolerance=1.5, message_type='SIM_STATE')
                    if ahrs_type != 0:  # we don't get secondary msgs while DCM is primary
                        self.wait_attitude(desroll=0, despitch=0, message_type='AHRS2', tolerance=1, timeout=120)
                    self.wait_attitude_quaternion(desroll=0, despitch=0, tolerance=1, timeout=120)
                    self.wait_attitude_quaternion(desroll=0, despitch=0, tolerance=1, timeout=120, message_type='SIM_STATE')

                self.context_pop()
                self.reboot_sitl()

    def AHRSTrim(self):
        '''AHRS trim testing'''
        self.start_subtest("Attitude Correctness")
        self.ahrstrim_attitude_correctness()
        self.delay_sim_time(5)
        self.start_subtest("Preflight Calibration")
        self.ahrstrim_preflight_cal()

    def Button(self):
        '''Test Buttons'''
        self.set_parameter("SIM_PIN_MASK", 0)
        self.set_parameter("BTN_ENABLE", 1)
        self.drain_mav()
        self.do_heartbeats(force=True)
        btn = 4
        pin = 3
        self.set_parameter("BTN_PIN%u" % btn, pin, verbose=True)
        m = self.assert_not_receive_message('BUTTON_CHANGE')
        mask = 1 << pin
        self.set_parameter("SIM_PIN_MASK", mask)
        m = self.assert_receive_message('BUTTON_CHANGE', verbose=True)
        if not (m.state & mask):
            raise NotAchievedException("Bit not set in mask (got=%u want=%u)" % (m.state, mask))
        m2 = self.assert_receive_message('BUTTON_CHANGE', timeout=10)
        self.progress("### m2: %s" % str(m2))
        # wait for messages to stop coming:
        self.drain_mav_seconds(15)

        new_mask = 0
        self.send_set_parameter("SIM_PIN_MASK", new_mask, verbose=True)
        m3 = self.assert_receive_message('BUTTON_CHANGE')
        self.progress("### m3: %s" % str(m3))

        if m.last_change_ms == m3.last_change_ms:
            raise NotAchievedException("last_change_ms same as first message")
        if m3.state != new_mask:
            raise NotAchievedException("Unexpected mask (want=%u got=%u)" %
                                       (new_mask, m3.state))
        self.progress("correct BUTTON_CHANGE event received")

        if self.is_tracker():
            # tracker starts armed, which is annoying
            self.progress("Skipping arm/disarm tests for tracker")
            return

        self.context_push()
        self.wait_ready_to_arm()
        self.set_parameter("BTN_FUNC%u" % btn, 153)  # ARM/DISARM
        self.set_parameter("SIM_PIN_MASK", mask)
        self.wait_armed()
        self.set_parameter("SIM_PIN_MASK", 0)
        self.wait_disarmed()
        self.context_pop()

        if self.is_rover():
            self.context_push()
            # arming should be inhibited while e-STOP is in use:
            # set the function:
            self.set_parameter("BTN_FUNC%u" % btn, 31)
            # invert the sense of the pin, so eStop is asserted when pin is low:
            self.set_parameter("BTN_OPTIONS%u" % btn, 1 << 1)
            self.reboot_sitl()
            # assert the pin:
            self.set_parameter("SIM_PIN_MASK", mask)
            self.wait_ready_to_arm()
            self.arm_vehicle()
            self.disarm_vehicle()
            # de-assert the pin:
            self.set_parameter("SIM_PIN_MASK", 0)
            self.delay_sim_time(1)  # 5Hz update rate on Button library
            self.context_collect("STATUSTEXT")
            # try to arm the vehicle:
            self.run_cmd(
                mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
                p1=1,  # ARM
                want_result=mavutil.mavlink.MAV_RESULT_FAILED,
            )
            self.assert_prearm_failure("Motors Emergency Stopped",
                                       other_prearm_failures_fatal=False)
            self.reboot_sitl()
            self.assert_prearm_failure(
                "Motors Emergency Stopped",
                other_prearm_failures_fatal=False)
            self.context_pop()
            self.reboot_sitl()

        if self.is_rover():
            self.start_subtest("Testing using buttons for changing modes")
            self.context_push()
            if not self.mode_is('MANUAL'):
                raise NotAchievedException("Bad mode")
            self.set_parameter("BTN_FUNC%u" % btn, 53)  # steering mode
            # press button:
            self.set_parameter("SIM_PIN_MASK", mask)
            self.wait_mode('STEERING')
            # release button:
            self.set_parameter("SIM_PIN_MASK", 0)
            self.wait_mode('MANUAL')
            self.context_pop()

    def compare_number_percent(self, num1, num2, percent):
        if num1 == 0 and num2 == 0:
            return True
        if abs(num1 - num2) / max(abs(num1), abs(num2)) <= percent * 0.01:
            return True
        return False

    def bit_extract(self, number, offset, length):
        mask = 0
        for i in range(offset, offset+length):
            mask |= 1 << i
        return (number & mask) >> offset

    def tf_encode_gps_latitude(self, lat):
        value = 0
        if lat < 0:
            value = ((abs(lat)//100)*6) | 0x40000000
        else:
            value = ((abs(lat)//100)*6)
        return value

    def tf_validate_gps(self, value): # shared by proto 4 and proto 10
        self.progress("validating gps (0x%02x)" % value)
        lat = value
        gri = self.assert_receive_message('GPS_RAW_INT')
        gri_lat = self.tf_encode_gps_latitude(gri.lat)
        self.progress("GLOBAL_POSITION_INT lat==%f frsky==%f" % (gri_lat, lat))
        if gri_lat == lat:
            return True
        return False

    def tfp_prep_number(self, number, digits, power):
        res = 0
        abs_number = abs(number)
        if digits == 2 and power == 1: # number encoded on 8 bits: 7 bits for digits + 1 for 10^power
            if abs_number < 100:
                res = abs_number << 1
            elif abs_number < 1270:
                res = (round(abs_number * 0.1) << 1) | 0x1
            else: # transmit max possible value (0x7F x 10^1 = 1270)
                res = 0xFF
            if number < 0:  # if number is negative, add sign bit in front
                res |= 0x1 << 8
        elif digits == 2 and power == 2: # number encoded on 9 bits: 7 bits for digits + 2 for 10^power
            if abs_number < 100:
                res = abs_number << 2
            elif abs_number < 1000:
                res = (round(abs_number * 0.1) << 2) | 0x1
            elif abs_number < 10000:
                res = (round(abs_number * 0.01) << 2) | 0x2
            elif abs_number < 127000:
                res = (round(abs_number * 0.001) << 2) | 0x3
            else: # transmit max possible value (0x7F x 10^3 = 127000)
                res = 0x1FF
            if number < 0: # if number is negative, add sign bit in front
                res |= 0x1 << 9
        elif digits == 3 and power == 1: # number encoded on 11 bits: 10 bits for digits + 1 for 10^power
            if abs_number < 1000:
                res = abs_number << 1
            elif abs_number < 10240:
                res = (round(abs_number * 0.1) << 1) | 0x1
            else: # transmit max possible value (0x3FF x 10^1 = 10240)
                res = 0x7FF
            if number < 0: # if number is negative, add sign bit in front
                res |= 0x1 << 11
        elif digits == 3 and power == 2: # number encoded on 12 bits: 10 bits for digits + 2 for 10^power
            if abs_number < 1000:
                res = abs_number << 2
            elif abs_number < 10000:
                res = (round(abs_number * 0.1) << 2) | 0x1
            elif abs_number < 100000:
                res = (round(abs_number * 0.01) << 2) | 0x2
            elif abs_number < 1024000:
                res = (round(abs_number * 0.001) << 2) | 0x3
            else: # transmit max possible value (0x3FF x 10^3 = 127000)
                res = 0xFFF
            if number < 0: # if number is negative, add sign bit in front
                res |= 0x1 << 12
        return res

    def tfp_validate_ap_status(self, value): # 0x5001
        self.progress("validating ap_status(0x%02x)" % value)
        flight_mode = self.bit_extract(value, 0, 5) - 1 # first mode is 1 not 0 :-)
        # simple_mode = self.bit_extract(value, 5, 2)
        # is_flying = not self.bit_extract(value, 7, 1)
        # status_armed = self.bit_extract(value, 8, 1)
        # batt_failsafe = self.bit_extract(value, 9, 1)
        # ekf_failsafe = self.bit_extract(value, 10, 2)
        # imu_temp = self.bit_extract(value, 26, 6) + 19 # IMU temperature: 0 means temp =< 19, 63 means temp => 82
        heartbeat = self.wait_heartbeat()
        mav_flight_mode = heartbeat.custom_mode
        self.progress(" mode=%u heartbeat=%u" % (flight_mode, mav_flight_mode))
        if mav_flight_mode == flight_mode:
            self.progress("flight mode match")
            return True
            # FIXME: need to check other values as well
        return False

    def tfp_validate_attitude(self, value):
        self.progress("validating attitude(0x%02x)" % value)
        roll = (min(self.bit_extract(value, 0, 11), 1800) - 900) * 0.2 # roll [0,1800] ==> [-180,180]
        pitch = (min(self.bit_extract(value, 11, 10), 900) - 450) * 0.2 # pitch [0,900] ==> [-90,90]
#        rng_cm = self.bit_extract(value, 22, 10) * (10 ^ self.bit_extract(value, 21, 1)) # cm
        atti = self.assert_receive_message('ATTITUDE')
        atti_roll = round(atti.roll)
        self.progress("ATTITUDE roll==%f frsky==%f" % (atti_roll, roll))
        if abs(atti_roll - roll) >= 5:
            return False
        atti_pitch = round(atti.pitch)
        self.progress("ATTITUDE pitch==%f frsky==%f" % (atti_pitch, pitch))
        if abs(atti_pitch - pitch) >= 5:
            return False
            # FIXME: need to check other values as well
        return True

    def tfp_validate_home_status(self, value):
        self.progress("validating home status(0x%02x)" % value)
#        home_dist_m = self.bit_extract(value,2,10) * (10^self.bit_extract(value,0,2))
        home_alt_dm = self.bit_extract(value, 14, 10) * (10 ^ self.bit_extract(value, 12, 2)) * 0.1 * (self.bit_extract(value, 24, 1) == 1 and -1 or 1)  # noqa
        # home_angle_d = self.bit_extract(value, 25,  7) * 3
        gpi = self.assert_receive_message('GLOBAL_POSITION_INT')
        gpi_relative_alt_dm = gpi.relative_alt/100.0
        self.progress("GLOBAL_POSITION_INT rel_alt==%fm frsky_home_alt==%fm" % (gpi_relative_alt_dm, home_alt_dm))
        if abs(gpi_relative_alt_dm - home_alt_dm) < 10:
            return True
            # FIXME: need to check other values as well
        return False

    def tfp_validate_gps_status(self, value):
        self.progress("validating gps status(0x%02x)" % value)
#        num_sats = self.bit_extract(value, 0, 4)
        gps_status = self.bit_extract(value, 4, 2) + self.bit_extract(value, 14, 2)
#        gps_hdop = self.bit_extract(value, 7, 7) * (10 ^ self.bit_extract(value, 6, 1)) # dm
#        gps_alt = self.bit_extract(value, 24, 7) * (10 ^ self.bit_extract(value, 22, 2)) * (self.bit_extract(value, 31, 1) == 1 and -1 or 1) # dm  # noqa
        gri = self.assert_receive_message('GPS_RAW_INT')
        gri_status = gri.fix_type
        self.progress("GPS_RAW_INT fix_type==%f frsky==%f" % (gri_status, gps_status))
        if gps_status == gri_status:
            return True
            # FIXME: need to check other values as well
        return False

    def tfp_validate_vel_and_yaw(self, value): # 0x5005
        self.progress("validating vel_and_yaw(0x%02x)" % value)
        z_vel_dm_per_second = self.bit_extract(value, 1, 7) * (10 ^ self.bit_extract(value, 0, 1)) * (self.bit_extract(value, 8, 1) == 1 and -1 or 1)  # noqa
        xy_vel = self.bit_extract(value, 10, 7) * (10 ^ self.bit_extract(value, 9, 1))
        yaw = self.bit_extract(value, 17, 11) * 0.2
        gpi = self.mav.recv_match(
            type='GLOBAL_POSITION_INT',
            blocking=True,
            timeout=1
        )
        if gpi is None:
            return
        self.progress(" yaw=%u gpi=%u" % (yaw, gpi.hdg*0.01))
        self.progress(" xy_vel=%u" % xy_vel)
        self.progress(" z_vel_dm_per_second=%u" % z_vel_dm_per_second)
        if self.compare_number_percent(gpi.hdg*0.01, yaw, 10):
            self.progress("Yaw match")
            return True
        # FIXME: need to be under way to check the velocities, really....
        return False

    def tfp_validate_battery1(self, value):
        self.progress("validating battery1 (0x%02x)" % value)
        voltage = self.bit_extract(value, 0, 9)  # dV
        # current = self.bit_extract(value, 10, 7) * (10 ^ self.bit_extract(value, 9, 1))
        # mah = self.bit_extract(value, 17, 15)
        voltage = value * 0.1
        batt = self.assert_receive_message(
            'BATTERY_STATUS',
            timeout=5,
            condition="BATTERY_STATUS.id==0"
        )
        battery_status_value = batt.voltages[0]*0.001
        self.progress("BATTERY_STATUS voltage==%f frsky==%f" % (battery_status_value, voltage))
        if abs(battery_status_value - voltage) > 0.1:
            return False
        # FIXME: need to check other values as well
        return True

    def tfp_validate_params(self, value):
        param_id = self.bit_extract(value, 24, 4)
        param_value = self.bit_extract(value, 0, 24)
        self.progress("received param (0x%02x) (id=%u value=%u)" %
                      (value, param_id, param_value))
        frame_type = param_value
        hb = self.mav.messages['HEARTBEAT']
        hb_type = hb.type
        self.progress("validate_params: HEARTBEAT type==%f frsky==%f param_id=%u" % (hb_type, frame_type, param_id))
        if param_id != 1:
            return False
        if hb_type == frame_type:
            return True
            # FIXME: need to check other values as well
        return False

    def tfp_validate_rpm(self, value):
        self.progress("validating rpm (0x%02x)" % value)
        tf_rpm = self.bit_extract(value, 0, 16)
        rpm = self.assert_receive_message(type='RPM', timeout=5)
        rpm_value = round(rpm.rpm1 * 0.1)
        self.progress("RPM rpm==%f frsky==%f" % (rpm_value, tf_rpm))
        if rpm_value != tf_rpm:
            return False
        return True

    def tfp_validate_terrain(self, value):
        self.progress("validating terrain(0x%02x)" % value)
        alt_above_terrain_dm = self.bit_extract(value, 2, 10) * (10 ^ self.bit_extract(value, 0, 2)) * 0.1 * (self.bit_extract(value, 12, 1) == 1 and -1 or 1)  # noqa
        terrain = self.assert_receive_message('TERRAIN_REPORT')
        altitude_terrain_dm = round(terrain.current_height*10)
        self.progress("TERRAIN_REPORT terrain_alt==%fdm frsky_terrain_alt==%fdm" % (altitude_terrain_dm, alt_above_terrain_dm))
        if abs(altitude_terrain_dm - alt_above_terrain_dm) < 1:
            return True
        return False

    def tfp_validate_wind(self, value):
        self.progress("validating wind(0x%02x)" % value)
        speed_m = self.bit_extract(value, 8, 7) * (10 ^ self.bit_extract(value, 7, 1)) * 0.1 # speed in m/s
        wind = self.assert_receive_message('WIND')
        self.progress("WIND mav==%f frsky==%f" % (speed_m, wind.speed))
        if abs(speed_m - wind.speed) < 0.5:
            return True
        return False

    def test_frsky_passthrough_do_wants(self, frsky, wants):

        tstart = self.get_sim_time_cached()
        while len(wants):
            self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()]))
            wants_copy = copy.copy(wants)
            self.drain_mav()
            t2 = self.get_sim_time_cached()
            if t2 - tstart > 300:
                self.progress("Failed to get frsky passthrough data")
                self.progress("Counts of sensor_id polls sent:")
                frsky.dump_sensor_id_poll_counts_as_progress_messages()
                self.progress("Counts of dataids received:")
                frsky.dump_dataid_counts_as_progress_messages()
                raise AutoTestTimeoutException("Failed to get frsky passthrough data")
            frsky.update()
            for want in wants_copy:
                data = frsky.get_data(want)
                if data is None:
                    continue
                self.progress("Checking 0x%x" % (want,))
                if wants[want](data):
                    self.progress("  Fulfilled")
                    del wants[want]

    def FRSkyPassThroughStatustext(self):
        '''test FRSKy protocol's telem-passthrough functionality'''
        # we disable terrain here as RCTelemetry can queue a lot of
        # statustexts if terrain tiles aren't available which can
        # happen on the autotest server.
        self.set_parameters({
            "SERIAL5_PROTOCOL": 10, # serial5 is FRSky passthrough
            "RPM1_TYPE": 10, # enable RPM output
            "TERRAIN_ENABLE": 0,
        })
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port # serial5 spews to localhost port
        ])
        frsky = FRSkyPassThrough(("127.0.0.1", port),
                                 get_time=self.get_sim_time_cached)

        # waiting until we are ready to arm should ensure our wanted
        # statustext doesn't get blatted out of the ArduPilot queue by
        # random messages.
        self.wait_ready_to_arm()

        # test we get statustext strings.  This relies on ArduPilot
        # emitting statustext strings when we fetch parameters. (or,
        # now, an updating-barometer statustext)
        tstart = self.get_sim_time()
        old_data = None
        text = ""

        self.context_collect('STATUSTEXT')
        command = mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION
        self.send_cmd(
            command,
            p3=1, # p3, baro
        )
        # this is a test for asynchronous handling of mavlink messages:
        self.run_cmd_get_ack(command, mavutil.mavlink.MAV_RESULT_IN_PROGRESS, 2)
        self.run_cmd_get_ack(command, mavutil.mavlink.MAV_RESULT_ACCEPTED, 5)

        received_frsky_texts = []
        last_len_received_statustexts = 0
        timeout = 7 * self.speedup # it can take a *long* time to get these messages down!
        while True:
            self.drain_mav()
            now = self.get_sim_time_cached()
            if now - tstart > timeout:
                raise NotAchievedException("Did not get statustext in time")
            frsky.update()
            data = frsky.get_data(0x5000) # no timestamping on this data, so we can't catch legitimate repeats.
            if data is None:
                continue
            # frsky sends each quartet three times; skip the suplicates.
            if old_data is not None and old_data == data:
                continue
            old_data = data
            self.progress("Got (0x%x)" % data)
            severity = 0
            last = False
            for i in 3, 2, 1, 0:
                x = (data >> i*8) & 0xff
                text += chr(x & 0x7f)
                self.progress("  x=0x%02x" % x)
                if x & 0x80:
                    severity += 1 << i
                self.progress("Text sev=%u: %s" % (severity, str(text)))
                if (x & 0x7f) == 0x00:
                    last = True
            if last:
                m = None
                text = text.rstrip("\0")
                self.progress("Received frsky text (%s)" % (text,))
                self.progress("context texts: %s" %
                              str([st.text for st in self.context_collection('STATUSTEXT')]))
                m = self.statustext_in_collections(text)
                if m is not None:
                    want_sev = m.severity
                    if severity != want_sev:
                        raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity))
                    self.progress("Got statustext (%s)" % m.text)
                    break
                received_frsky_texts.append((severity, text))
                text = ""
            received_statustexts = self.context_collection('STATUSTEXT')
            if len(received_statustexts) != last_len_received_statustexts:
                last_len_received_statustexts = len(received_statustexts)
                self.progress("received statustexts: %s" % str([st.text for st in received_statustexts]))
                self.progress("received frsky texts: %s" % str(received_frsky_texts))
                for (want_sev, received_text) in received_frsky_texts:
                    for m in received_statustexts:
                        if m.text == received_text:
                            if want_sev != m.severity:
                                raise NotAchievedException("Incorrect severity; want=%u got=%u" % (want_sev, severity))
                            self.progress("Got statustext (%s)" % received_text)
                            break

    def FRSkyPassThroughSensorIDs(self):
        '''test FRSKy protocol's telem-passthrough functionality (sensor IDs)'''
        self.set_parameters({
            "SERIAL5_PROTOCOL": 10, # serial5 is FRSky passthrough
            "RPM1_TYPE": 10, # enable RPM output
        })
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port # serial5 spews to localhost port
        ])
        frsky = FRSkyPassThrough(("127.0.0.1", port),
                                 get_time=self.get_sim_time_cached)

        self.wait_ready_to_arm()

        # we need to start the engine to get some RPM readings, we do it for plane only
        # anything with a lambda in here needs a proper test written.
        # This, at least makes sure we're getting some of each
        # message.  These are ordered according to the wfq scheduler
        wants = {
            0x5000: lambda xx: True,
            0x5006: self.tfp_validate_attitude,
            0x0800: self.tf_validate_gps,
            0x5005: self.tfp_validate_vel_and_yaw,
            0x5001: self.tfp_validate_ap_status,
            0x5002: self.tfp_validate_gps_status,
            0x5004: self.tfp_validate_home_status,
            # 0x5008: lambda x : True, # no second battery, so this doesn't arrive
            0x5003: self.tfp_validate_battery1,
            0x5007: self.tfp_validate_params,
            0x500B: self.tfp_validate_terrain,
            0x500C: self.tfp_validate_wind,
        }
        self.test_frsky_passthrough_do_wants(frsky, wants)

        # now check RPM:
        if self.is_plane():
            self.set_autodisarm_delay(0)
            if not self.arm_vehicle():
                raise NotAchievedException("Failed to ARM")
            self.set_rc(3, 1050)
            wants = {
                0x500A: self.tfp_validate_rpm,
            }
            self.test_frsky_passthrough_do_wants(frsky, wants)
            self.zero_throttle()
            self.progress("Wait for vehicle to slow down")
            self.wait_groundspeed(0, 0.3)
            self.disarm_vehicle()

        self.progress("Counts of sensor_id polls sent:")
        frsky.dump_sensor_id_poll_counts_as_progress_messages()
        self.progress("Counts of dataids received:")
        frsky.dump_dataid_counts_as_progress_messages()

    def decode_mavlite_param_value(self, message):
        '''returns a tuple of parameter name, value'''
        (value,) = struct.unpack("<f", message[0:4])
        name = message[4:]
        return (name, value)

    def decode_mavlite_command_ack(self, message):
        '''returns a tuple of parameter name, value'''
        (command, result) = struct.unpack("<HB", message)
        return (command, result)

    def read_message_via_mavlite(self, frsky, sport_to_mavlite):
        '''read bytes from frsky mavlite stream, trying to form up a mavlite
        message'''
        tstart = self.get_sim_time()
        timeout = 30 * self.speedup/10.0
        if self.valgrind or self.callgrind:
            timeout *= 10
        while True:
            self.drain_mav(quiet=True)
            tnow = self.get_sim_time_cached()
            if tnow - tstart > timeout:
                raise NotAchievedException("Did not get parameter via mavlite")
            frsky.update()
            if sport_to_mavlite.state == sport_to_mavlite.state_MESSAGE_RECEIVED:
                message = sport_to_mavlite.get_message()
                sport_to_mavlite.reset()
#                self.progress("############ message received (type=%u)" % message.msgid)
                return message

    def read_parameter_via_mavlite(self, frsky, sport_to_mavlite, name):
        tstart = self.get_sim_time()
        while True:
            tnow = self.get_sim_time_cached()
            if tnow - tstart > 30 * self.speedup / 10.0:
                raise NotAchievedException("Did not get parameter via mavlite")
            message = self.read_message_via_mavlite(frsky, sport_to_mavlite)
            if message.msgid != mavutil.mavlink.MAVLINK_MSG_ID_PARAM_VALUE:
                raise NotAchievedException("Unexpected msgid %u received" % message.msgid)
            (got_name, value) = self.decode_mavlite_param_value(message.body)
            #                self.progress("Received parameter: %s=%f" % (name, value))
            got_name = got_name.decode('ascii')
            if got_name != name:
                raise NotAchievedException("Incorrect name received (want=%s) (got=%s)" % (name, got_name))
            return value

    def get_parameter_via_mavlite(self, frsky, sport_to_mavlite, name):
        # self.progress("########## Sending request")
        frsky.send_mavlite_param_request_read(name)
        return self.read_parameter_via_mavlite(frsky, sport_to_mavlite, name)

    def set_parameter_via_mavlite(self, frsky, sport_to_mavlite, name, value):
        # self.progress("########## Sending request")
        frsky.send_mavlite_param_set(name, value)
        # new value is echoed back immediately:
        got_val = self.read_parameter_via_mavlite(frsky, sport_to_mavlite, name)
        if abs(got_val - value) > 0.00001:
            raise NotAchievedException("Returned value not same as set value (want=%f got=%f)" % (value, got_val))

    def run_cmd_via_mavlite(self,
                            frsky,
                            sport_to_mavlite,
                            command,
                            p1=None,
                            p2=None,
                            p3=None,
                            p4=None,
                            p5=None,
                            p6=None,
                            p7=None,
                            want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
        frsky.send_mavlite_command_long(
            command,
            p1=p1,
            p2=p2,
            p3=p3,
            p4=p4,
            p5=p5,
            p6=p6,
            p7=p7,
        )
        self.run_cmd_via_mavlite_get_ack(
            frsky,
            sport_to_mavlite,
            command,
            want_result
        )

    def run_cmd_via_mavlite_get_ack(self, frsky, sport_to_mavlite, command, want_result):
        '''expect and read a command-ack from frsky sport passthrough'''
        msg = self.read_message_via_mavlite(frsky, sport_to_mavlite)
        if msg.msgid != mavutil.mavlink.MAVLINK_MSG_ID_COMMAND_ACK:
            raise NotAchievedException("Expected a command-ack, got a %u" % msg.msgid)
        (got_command, got_result) = self.decode_mavlite_command_ack(msg.body)
        if got_command != command:
            raise NotAchievedException(
                "Did not receive expected command in command_ack; want=%u got=%u" %
                (command, got_command))
        if got_result != want_result:
            raise NotAchievedException(
                "Did not receive expected result in command_ack; want=%u got=%u" %
                (want_result, got_result))

    def FRSkyMAVlite(self):
        '''Test FrSky MAVlite serial output'''
        self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port # serial5 spews to localhost port
        ])
        frsky = FRSkyPassThrough(("127.0.0.1", port))
        frsky.connect()

        sport_to_mavlite = SPortToMAVlite()
        frsky.data_downlink_handler = sport_to_mavlite.downlink_handler

        self.start_subtest("Get parameter via MAVlite")
        param_name = "STAB_PITCH_DOWN"  # FIXME: want common across vehicles
        set_value = 97.21
        self.set_parameter(param_name, set_value)  # DO NOT FLY
        got_value = self.get_parameter_via_mavlite(frsky,
                                                   sport_to_mavlite,
                                                   param_name)
        if abs(got_value - set_value) > 0.00001:
            raise NotAchievedException("Incorrect value retrieved via mavlite (want=%f got=%f)" % (set_value, got_value))
        self.progress("Got value OK")
        self.end_subtest("Get parameter via MAVlite")

        self.start_subtest("Set parameter via MAVlite")
        param_name = "STAB_PITCH_DOWN"  # FIXME: want common across vehicles
        set_value = 91.67
#        frsky.verbose = True
        self.set_parameter_via_mavlite(frsky, sport_to_mavlite, param_name, set_value)  # DO NOT FLY
        got_value = self.get_parameter(param_name)
        if abs(got_value - set_value) > 0.00001:
            raise NotAchievedException("Incorrect value retrieved via mavlink (want=%f got=%f)" % (set_value, got_value))
        self.progress("Set value OK")
        self.end_subtest("Set parameter via MAVlite")

        self.start_subtest("Calibrate Baro via MAVLite")
        self.context_push()
        self.context_collect("STATUSTEXT")
        self.run_cmd_via_mavlite(
            frsky,
            sport_to_mavlite,
            mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
            p1=0,
            p2=0,
            p3=1.0,
        )
        self.wait_statustext("Updating barometer calibration", check_context=True)
        self.context_pop()
        self.end_subtest("Calibrate Baro via MAVLite")

        self.start_subtest("Change mode via MAVLite")
        #  FIXME: currently plane-specific
        self.run_cmd_via_mavlite(
            frsky,
            sport_to_mavlite,
            mavutil.mavlink.MAV_CMD_DO_SET_MODE,
            p1=mavutil.mavlink.PLANE_MODE_MANUAL,
        )
        self.wait_mode("MANUAL")
        self.run_cmd_via_mavlite(
            frsky,
            sport_to_mavlite,
            mavutil.mavlink.MAV_CMD_DO_SET_MODE,
            p1=mavutil.mavlink.PLANE_MODE_FLY_BY_WIRE_A,
        )
        self.wait_mode("FBWA")
        self.end_subtest("Change mode via MAVLite")

        self.start_subtest("Enable fence via MAVlite")
        #  Fence can be enabled using MAV_CMD
        self.run_cmd_via_mavlite(
            frsky,
            sport_to_mavlite,
            mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE,
            p1=1,
            want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED,
        )
        self.end_subtest("Enable fence via MAVlite")

    def tfs_validate_gps_alt(self, value):
        self.progress("validating gps altitude (0x%02x)" % value)
        alt_m = value * 0.01 # cm -> m
        gpi = self.assert_receive_message('GLOBAL_POSITION_INT')
        if gpi is None:
            raise NotAchievedException("Did not get GLOBAL_POSITION_INT message")
        gpi_alt_m = round(gpi.alt * 0.001) # mm-> m
        self.progress("GLOBAL_POSITION_INT alt==%f frsky==%f" % (gpi_alt_m, alt_m))
        if self.compare_number_percent(gpi_alt_m, alt_m, 10):
            return True
        return False

    def tfs_validate_baro_alt(self, value):
        self.progress("validating baro altitude (0x%02x)" % value)
        alt_m = value * 0.01 # cm -> m
        gpi = self.assert_receive_message('GLOBAL_POSITION_INT')
        if gpi is None:
            raise NotAchievedException("Did not get GLOBAL_POSITION_INT message")
        gpi_alt_m = round(gpi.relative_alt * 0.001) # mm -> m
        self.progress("GLOBAL_POSITION_INT relative_alt==%f frsky==%f" % (gpi_alt_m, alt_m))
        if abs(gpi_alt_m - alt_m) < 1:
            return True
        return False

    def tfs_validate_gps_speed(self, value):
        self.progress("validating gps speed (0x%02x)" % value)
        speed_ms = value * 0.001 # mm/s -> m/s
        vfr_hud = self.assert_receive_message('VFR_HUD')
        vfr_hud_speed_ms = round(vfr_hud.groundspeed)
        self.progress("VFR_HUD groundspeed==%f frsky==%f" % (vfr_hud_speed_ms, speed_ms))
        if self.compare_number_percent(vfr_hud_speed_ms, speed_ms, 10):
            return True
        return False

    def tfs_validate_yaw(self, value):
        self.progress("validating yaw (0x%02x)" % value)
        yaw_deg = value * 0.01 # cd -> deg
        vfr_hud = self.assert_receive_message('VFR_HUD')
        vfr_hud_yaw_deg = round(vfr_hud.heading)
        self.progress("VFR_HUD heading==%f frsky==%f" % (vfr_hud_yaw_deg, yaw_deg))
        if self.compare_number_percent(vfr_hud_yaw_deg, yaw_deg, 10):
            return True
        return False

    def tfs_validate_vspeed(self, value):
        self.progress("validating vspeed (0x%02x)" % value)
        vspeed_ms = value * 0.01 # cm/s -> m/s
        vfr_hud = self.assert_receive_message('VFR_HUD')
        vfr_hud_vspeed_ms = round(vfr_hud.climb)
        self.progress("VFR_HUD climb==%f frsky==%f" % (vfr_hud_vspeed_ms, vspeed_ms))
        if self.compare_number_percent(vfr_hud_vspeed_ms, vspeed_ms, 10):
            return True
        return False

    def tfs_validate_battery1(self, value):
        self.progress("validating battery1 (0x%02x)" % value)
        voltage_v = value * 0.01 # cV -> V
        batt = self.assert_receive_message(
            'BATTERY_STATUS',
            timeout=5,
            condition="BATTERY_STATUS.id==0"
        )
        battery_status_voltage_v = batt.voltages[0] * 0.001 # mV -> V
        self.progress("BATTERY_STATUS voltage==%f frsky==%f" % (battery_status_voltage_v, voltage_v))
        if self.compare_number_percent(battery_status_voltage_v, voltage_v, 10):
            return True
        return False

    def tfs_validate_current1(self, value):
        # test frsky current vs BATTERY_STATUS
        self.progress("validating battery1 (0x%02x)" % value)
        current_a = value * 0.1 # dA -> A
        batt = self.assert_receive_message(
            'BATTERY_STATUS',
            timeout=5,
            condition="BATTERY_STATUS.id==0"
        )
        battery_status_current_a = batt.current_battery * 0.01 # cA -> A
        self.progress("BATTERY_STATUS current==%f frsky==%f" % (battery_status_current_a, current_a))
        if self.compare_number_percent(round(battery_status_current_a * 10), round(current_a * 10), 10):
            return True
        return False

    def tfs_validate_fuel(self, value):
        self.progress("validating fuel (0x%02x)" % value)
        fuel = value
        batt = self.assert_receive_message(
            'BATTERY_STATUS',
            timeout=5,
            condition="BATTERY_STATUS.id==0"
        )
        battery_status_fuel = batt.battery_remaining
        self.progress("BATTERY_STATUS fuel==%f frsky==%f" % (battery_status_fuel, fuel))
        if self.compare_number_percent(battery_status_fuel, fuel, 10):
            return True
        return False

    def tfs_validate_tmp1(self, value):
        self.progress("validating tmp1 (0x%02x)" % value)
        tmp1 = value
        heartbeat = self.wait_heartbeat()
        heartbeat_tmp1 = heartbeat.custom_mode
        self.progress("GLOBAL_POSITION_INT custom_mode==%f frsky==%f" % (heartbeat_tmp1, tmp1))
        if heartbeat_tmp1 == tmp1:
            return True
        return False

    def tfs_validate_tmp2(self, value):
        self.progress("validating tmp2 (0x%02x)" % value)
        tmp2 = value
        gps_raw = self.assert_receive_message('GPS_RAW_INT')
        gps_raw_tmp2 = gps_raw.satellites_visible*10 + gps_raw.fix_type
        self.progress("GPS_RAW_INT tmp2==%f frsky==%f" % (gps_raw_tmp2, tmp2))
        if gps_raw_tmp2 == tmp2:
            return True
        return False

    def tfs_validate_rpm(self, value):
        self.progress("validating rpm (0x%02x)" % value)
        tfs_rpm = value
        rpm = self.assert_receive_message('RPM', timeout=5)
        rpm_value = round(rpm.rpm1)
        self.progress("RPM rpm==%f frsky==%f" % (rpm_value, tfs_rpm))
        if rpm_value == tfs_rpm:
            return True
        return False

    def wait_rpm1(self, min_rpm=None, timeout=10):
        '''wait for mavlink RPM message to indicate valid RPM'''
        tstart = self.get_sim_time()
        while True:
            t = self.get_sim_time_cached()
            if t - tstart > timeout:
                raise AutoTestTimeoutException("Failed to do get valid RPM")
            rpm = self.mav.recv_match(
                type='RPM',
                blocking=True,
                timeout=1
            )
            self.progress("rpm: (%s)" % str(rpm))
            if rpm is None:
                continue
            if min_rpm is None:
                return
            if rpm.rpm1 >= min_rpm:
                return

    def FRSkySPort(self):
        '''Test FrSky SPort mode'''
        self.set_parameters({
            "SERIAL5_PROTOCOL": 4, # serial5 is FRSky sport
            "RPM1_TYPE": 10, # enable SITL RPM sensor
            "GPS1_TYPE": 100,  # use simulated backend for consistent position
        })
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port # serial5 spews to localhost port
        ])
        frsky = FRSkySPort(("127.0.0.1", port), verbose=True)
        self.wait_ready_to_arm()

        # we need to start the engine to get some RPM readings, we do it for plane only
        if self.is_plane():
            self.set_autodisarm_delay(0)
            if not self.arm_vehicle():
                raise NotAchievedException("Failed to ARM")
            self.set_rc(3, 1050)
            self.wait_rpm1(timeout=10, min_rpm=200)

        self.assert_current_onboard_log_contains_message("RPM")

        self.drain_mav()
        # anything with a lambda in here needs a proper test written.
        # This, at least makes sure we're getting some of each
        # message.
        wants = {
            0x082F: self.tfs_validate_gps_alt, # gps altitude integer cm
            0x040F: self.tfs_validate_tmp1, # Tmp1
            0x060F: self.tfs_validate_fuel, # fuel % 0-100
            0x041F: self.tfs_validate_tmp2, # Tmp2
            0x010F: self.tfs_validate_baro_alt, # baro alt cm
            0x083F: self.tfs_validate_gps_speed, # gps speed integer mm/s
            0x084F: self.tfs_validate_yaw, # yaw in cd
            0x020F: self.tfs_validate_current1, # current dA
            0x011F: self.tfs_validate_vspeed, # vertical speed cm/s
            0x021F: self.tfs_validate_battery1, # battery 1 voltage cV
            0x0800: self.tf_validate_gps, # gps lat/lon
            0x050E: self.tfs_validate_rpm, # rpm 1
        }
        tstart = self.get_sim_time_cached()
        last_wanting_print = 0

        last_data_time = None
        while len(wants):
            now = self.get_sim_time()
            if now - last_wanting_print > 1:
                self.progress("Still wanting (%s)" %
                              ",".join([("0x%02x" % x) for x in wants.keys()]))
                last_wanting_print = now
            wants_copy = copy.copy(wants)
            if now - tstart > 300:
                self.progress("Failed to get frsky passthrough data")
                self.progress("Counts of sensor_id polls sent:")
                frsky.dump_sensor_id_poll_counts_as_progress_messages()
                self.progress("Counts of dataids received:")
                frsky.dump_dataid_counts_as_progress_messages()
                raise AutoTestTimeoutException("Failed to get frsky sport data")
            frsky.update()
            if frsky.last_data_time == last_data_time:
                continue
            last_data_time = frsky.last_data_time
            for want in wants_copy:
                data = frsky.get_data(want)
                if data is None:
                    continue
                self.progress("Checking 0x%x" % (want,))
                if wants[want](data):
                    self.progress("  Fulfilled")
                    del wants[want]
        # ok done, stop the engine
        if self.is_plane():
            self.zero_throttle()
            self.disarm_vehicle(force=True)

    def FRSkyD(self):
        '''Test FrSkyD serial output'''
        self.set_parameter("SERIAL5_PROTOCOL", 3) # serial5 is FRSky output
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port # serial5 spews to localhost port
        ])
        frsky = FRSkyD(("127.0.0.1", port))
        self.wait_ready_to_arm()
        m = self.assert_receive_message('GLOBAL_POSITION_INT')
        gpi_abs_alt = int((m.alt+500) / 1000) # mm -> m

        # grab a battery-remaining percentage
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_BATTERY_RESET,
            p1=65535,   # battery mask
            p2=96,      # percentage
        )
        m = self.assert_receive_message('BATTERY_STATUS')
        want_battery_remaining_pct = m.battery_remaining

        tstart = self.get_sim_time_cached()
        have_alt = False
        have_battery = False
        while True:
            t2 = self.get_sim_time_cached()
            if t2 - tstart > 10:
                raise AutoTestTimeoutException("Failed to get frsky D data")
            frsky.update()

            alt = frsky.get_data(frsky.dataid_GPS_ALT_BP)
            self.progress("Got alt (%s) mav=%s" % (str(alt), str(gpi_abs_alt)))
            if alt is None:
                continue
            if alt == gpi_abs_alt:
                have_alt = True

            batt = frsky.get_data(frsky.dataid_FUEL)
            self.progress("Got batt (%s) mav=%s" % (str(batt), str(want_battery_remaining_pct)))
            if batt is None:
                continue
            if batt == want_battery_remaining_pct:
                have_battery = True

            if have_alt and have_battery:
                break
            self.drain_mav()

    def test_ltm_g(self, ltm):
        g = ltm.g()
        if g is None:
            return
        m = self.assert_receive_message('GLOBAL_POSITION_INT')
        print("m: %s" % str(m))

        print("g.lat=%s m.lat=%s" % (str(g.lat()), str(m.lat)))
        if abs(m.lat - g.lat()) > 10:
            return False

        print("g.lon:%s m.lon:%s" % (str(g.lon()), str(m.lon)))
        if abs(m.lon - g.lon()) > 10:
            return False

        print("gndspeed: %s" % str(g.gndspeed()))
        if g.gndspeed() != 0:
            # FIXME if we start the vehicle moving.... check against VFR_HUD?
            return False

        print("g.alt=%s m.alt=%s" % (str(g.alt()/100.0), str(m.relative_alt/1000.0)))
        if abs(m.relative_alt/1000.0 - g.alt()/100.0) > 1:
            return False

        print("sats: %s" % str(g.sats()))
        m = self.assert_receive_message('GPS_RAW_INT')
        if m.satellites_visible != g.sats():
            return False

        constrained_fix_type = m.fix_type
        if constrained_fix_type > 3:
            constrained_fix_type = 3
        print("fix_type: %s" % g.fix_type())
        if constrained_fix_type != g.fix_type():
            return False

        return True

    def test_ltm_a(self, ltm):
        a = ltm.a()
        if a is None:
            return
        m = self.assert_receive_message('ATTITUDE')

        pitch = a.pitch()
        print("pitch: %s" % str(pitch))
        if abs(math.degrees(m.pitch) - pitch) > 1:
            return False

        roll = a.roll()
        print("roll: %s" % str(roll))
        if abs(math.degrees(m.roll) - roll) > 1:
            return False

        hdg = a.hdg()
        myaw = math.degrees(m.yaw)
        myaw += 360
        myaw %= 360
        print("a.hdg=%s m.hdg=%s" % (str(hdg), str(myaw)))
        if abs(myaw - hdg) > 1:
            return False

        return True

    def test_ltm_s(self, ltm):
        s = ltm.s()
        if s is None:
            return
        # FIXME.  Actually check the field values are correct :-)
        return True

    def LTM(self):
        '''Test LTM serial output'''
        self.set_parameter("SERIAL5_PROTOCOL", 25) # serial5 is LTM output
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port  # serial5 spews to localhost port
        ])
        ltm = LTM(("127.0.0.1", port))
        self.wait_ready_to_arm()

        wants = {
            "g": self.test_ltm_g,
            "a": self.test_ltm_a,
            "s": self.test_ltm_s,
        }

        tstart = self.get_sim_time()
        while True:
            self.progress("Still wanting (%s)" %
                          ",".join([("%s" % x) for x in wants.keys()]))
            if len(wants) == 0:
                break
            now = self.get_sim_time_cached()
            if now - tstart > 10:
                raise AutoTestTimeoutException("Failed to get ltm data")

            ltm.update()

            wants_copy = copy.copy(wants)
            for want in wants_copy:
                self.progress("Checking %s" % (want,))
                if wants[want](ltm):
                    self.progress("  Fulfilled")
                    del wants[want]

    def convertDmsToDdFormat(self, dms):
        deg = math.trunc(dms * 1e-7)
        dd = deg + (((dms * 1.0e-7) - deg) * 100.0 / 60.0)
        if dd < -180.0 or dd > 180.0:
            dd = 0.0
        return math.trunc(dd * 1.0e7)

    def DEVO(self):
        '''Test DEVO serial output'''
        self.context_push()
        self.set_parameter("SERIAL5_PROTOCOL", 17) # serial5 is DEVO output
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port  # serial5 spews to localhost port
        ])
        devo = DEVO(("127.0.0.1", port))
        self.wait_ready_to_arm()
        m = self.assert_receive_message('GLOBAL_POSITION_INT')

        tstart = self.get_sim_time_cached()
        while True:
            self.drain_mav()
            now = self.get_sim_time_cached()
            if now - tstart > 10:
                if devo.frame is not None:
                    # we received some frames but could not find correct values
                    raise AutoTestTimeoutException("Failed to get correct data")
                else:
                    # No frames received. Devo telemetry is compiled out?
                    break

            devo.update()
            frame = devo.frame
            if frame is None:
                continue

            m = self.assert_receive_message('GLOBAL_POSITION_INT')

            loc = LocationInt(self.convertDmsToDdFormat(frame.lat()), self.convertDmsToDdFormat(frame.lon()), 0, 0)

            print("received lat:%s expected lat:%s" % (str(loc.lat), str(m.lat)))
            print("received lon:%s expected lon:%s" % (str(loc.lon), str(m.lon)))
            dist_diff = self.get_distance_int(loc, m)
            print("Distance:%s" % str(dist_diff))
            if abs(dist_diff) > 2:
                continue

            gpi_rel_alt = int(m.relative_alt / 10) # mm -> cm, since driver send alt in cm
            print("received alt:%s expected alt:%s" % (str(frame.alt()), str(gpi_rel_alt)))
            if abs(gpi_rel_alt - frame.alt()) > 10:
                continue

            print("received gndspeed: %s" % str(frame.speed()))
            if frame.speed() != 0:
                # FIXME if we start the vehicle moving.... check against VFR_HUD?
                continue

            print("received temp:%s expected temp:%s" % (str(frame.temp()), str(self.mav.messages['HEARTBEAT'].custom_mode)))
            if frame.temp() != self.mav.messages['HEARTBEAT'].custom_mode:
                # currently we receive mode as temp. This should be fixed when driver is updated
                continue

            # we match the received voltage with the voltage of primary instance
            batt = self.assert_receive_message(
                'BATTERY_STATUS',
                timeout=5,
                condition="BATTERY_STATUS.id==0"
            )
            volt = batt.voltages[0]*0.001
            print("received voltage:%s expected voltage:%s" % (str(frame.volt()*0.1), str(volt)))
            if abs(frame.volt()*0.1 - volt) > 0.1:
                continue
            # if we reach here, exit
            break
        self.context_pop()
        self.reboot_sitl()

    def MSP_DJI(self):
        '''Test MSP DJI serial output'''
        self.set_parameter("SERIAL5_PROTOCOL", 33) # serial5 is MSP DJI output
        self.set_parameter("MSP_OPTIONS", 1) # telemetry (unpolled) mode
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port # serial5 spews to localhost port
        ])
        msp = MSP_DJI(("127.0.0.1", port))
        self.wait_ready_to_arm()

        tstart = self.get_sim_time()
        while True:
            self.drain_mav()
            if self.get_sim_time_cached() - tstart > 10:
                raise NotAchievedException("Did not get location")
            msp.update()
            try:
                f = msp.get_frame(msp.FRAME_GPS_RAW)
            except KeyError:
                continue
            dist = self.get_distance_int(f.LocationInt(), self.sim_location_int())
            print("lat=%f lon=%f dist=%f" % (f.lat(), f.lon(), dist))
            if dist < 1:
                break

    def CRSF(self):
        '''Test RC CRSF'''
        self.context_push()
        ex = None
        try:
            self.set_parameter("SERIAL5_PROTOCOL", 23) # serial5 is RCIN input
            port = self.spare_network_port()
            self.customise_SITL_commandline([
                "--serial5=tcp:%u" % port # serial5 reads from to localhost port
            ])
            crsf = CRSF(("127.0.0.1", port))
            crsf.connect()

            self.progress("Writing vtx_frame")
            crsf.write_data_id(crsf.dataid_vtx_frame)
            self.delay_sim_time(5)
            self.progress("Writing vtx_telem")
            crsf.write_data_id(crsf.dataid_vtx_telem)
            self.delay_sim_time(5)
            self.progress("Writing vtx_unknown")
            crsf.write_data_id(crsf.dataid_vtx_unknown)
            self.delay_sim_time(5)
        except Exception as e:
            self.print_exception_caught(e)
            ex = e
        self.context_pop()
        self.disarm_vehicle(force=True)
        self.reboot_sitl()
        if ex is not None:
            raise ex

    def CompassPrearms(self):
        '''test compass prearm checks'''
        self.wait_ready_to_arm()
        # XY are checked specially:
        for axis in 'X', 'Y':  # ArduPilot only checks these two axes
            self.context_push()
            self.set_parameter(f"COMPASS_OFS2_{axis}", 1000)
            self.assert_prearm_failure("Compasses inconsistent")
            self.context_pop()
            self.wait_ready_to_arm()

        # now test the total anglular difference:
        self.context_push()
        self.set_parameters({
            "COMPASS_OFS2_X": 1000,
            "COMPASS_OFS2_Y": -1000,
            "COMPASS_OFS2_Z": -10000,
        })
        self.assert_prearm_failure("Compasses inconsistent")
        self.context_pop()
        self.wait_ready_to_arm()
        # the following line papers over a probably problem with the
        # EKF recovering from bad compass offsets.  Without it, the
        # EKF will maintain a 10-degree offset from the true compass
        # heading seemingly indefinitely.
        self.reboot_sitl()

    def run_replay(self, filepath):
        '''runs replay in filepath, returns filepath to Replay logfile'''
        util.run_cmd(
            ['build/sitl/tool/Replay', filepath],
            directory=util.topdir(),
            checkfail=True,
            show=True,
            output=True,
        )
        return self.current_onboard_log_filepath()

    def AHRS_ORIENTATION(self):
        '''test AHRS_ORIENTATION parameter works'''
        self.context_push()
        self.wait_ready_to_arm()
        original_imu = self.assert_receive_message("RAW_IMU", verbose=True)
        self.set_parameter("AHRS_ORIENTATION", 16)  # roll-90
        self.delay_sim_time(2)  # we update this on a timer
        new_imu = self.assert_receive_message("RAW_IMU", verbose=True)
        delta_zacc = original_imu.zacc - new_imu.zacc
        delta_z_g = delta_zacc/1000.0  # milligravities -> gravities
        if delta_z_g - 1 > 0.1:  # milligravities....
            raise NotAchievedException("Magic AHRS_ORIENTATION update did not work (delta_z_g=%f)" % (delta_z_g,))
        delta_yacc = original_imu.yacc - new_imu.yacc
        delta_y_g = delta_yacc/1000.0  # milligravities -> gravities
        if delta_y_g + 1 > 0.1:
            raise NotAchievedException("Magic AHRS_ORIENTATION update did not work (delta_y_g=%f)" % (delta_y_g,))
        self.context_pop()
        self.reboot_sitl()
        self.delay_sim_time(2)  # we update orientation on a timer

    def GPSTypes(self):
        '''check each simulated GPS works'''
        self.reboot_sitl()
        orig = self.poll_home_position(timeout=60)
        sim_gps = [
            # (sim_gps_type, name, gps_type, detect_name, serial_protocol, detect_prefix)
            # if gps_type is None we auto-detect
            # (0, "NONE"),
            (1, "UBLOX", None, "u-blox", 5, 'probing'),
            (5, "NMEA", 5, "NMEA", 5, 'probing'),
            (6, "SBP", None, "SBP", 5, 'probing'),
            (8, "NOVA", 15, "NOVA", 5, 'probing'),  # no attempt to auto-detect this in AP_GPS
            (9, "SBP2", None, "SBP2", 5, 'probing'),
            (10, "SBF", 10, 'SBF', 5, 'probing'),
            (11, "GSOF", 11, "GSOF", 5, 'specified'), # no attempt to auto-detect this in AP_GPS
            (19, "MSP", 19, "MSP", 32, 'specified'),  # no attempt to auto-detect this in AP_GPS
            # (9, "FILE"),
        ]
        self.context_collect("STATUSTEXT")
        for (sim_gps_type, name, gps_type, detect_name, serial_protocol, detect_prefix) in sim_gps:
            self.start_subtest("Checking GPS type %s" % name)
            self.set_parameter("SIM_GPS1_TYPE", sim_gps_type)
            self.set_parameter("SERIAL3_PROTOCOL", serial_protocol)
            if gps_type is None:
                gps_type = 1  # auto-detect
            self.set_parameter("GPS1_TYPE", gps_type)
            self.context_clear_collection('STATUSTEXT')
            self.reboot_sitl()
            if detect_prefix == "probing":
                self.wait_statustext(f"probing for {detect_name}", check_context=True)
            else:
                self.wait_statustext(f"specified as {detect_name}", check_context=True)
            self.wait_statustext(f"detected {detect_name}", check_context=True)
            n = self.poll_home_position(timeout=120)
            distance = self.get_distance_int(orig, n)
            if distance > 1:
                raise NotAchievedException(f"gps type {name} misbehaving")

    def assert_gps_satellite_count(self, messagename, count):
        m = self.assert_receive_message(messagename)
        if m.satellites_visible != count:
            raise NotAchievedException("Expected %u sats, got %u" %
                                       (count, m.satellites_visible))

    def check_attitudes_match(self):
        '''make sure ahrs2 and simstate and ATTTIUDE_QUATERNION all match'''

        # these are ordered to bookend the list with timestamps (which
        # both attitude messages have):
        get_names = ['ATTITUDE', 'SIMSTATE', 'AHRS2', 'ATTITUDE_QUATERNION']
        msgs = self.get_messages_frame(get_names)

        for get_name in get_names:
            self.progress("%s: %s" % (get_name, msgs[get_name]))

        simstate = msgs['SIMSTATE']
        attitude = msgs['ATTITUDE']
        ahrs2 = msgs['AHRS2']
        attitude_quaternion = msgs['ATTITUDE_QUATERNION']

        # check ATTITUDE
        want = math.degrees(simstate.roll)
        got = math.degrees(attitude.roll)
        if abs(mavextra.angle_diff(want, got)) > 20:
            raise NotAchievedException("ATTITUDE.Roll looks bad (want=%f got=%f)" %
                                       (want, got))
        want = math.degrees(simstate.pitch)
        got = math.degrees(attitude.pitch)
        if abs(mavextra.angle_diff(want, got)) > 20:
            raise NotAchievedException("ATTITUDE.Pitch looks bad (want=%f got=%f)" %
                                       (want, got))

        # check AHRS2
        want = math.degrees(simstate.roll)
        got = math.degrees(ahrs2.roll)
        if abs(mavextra.angle_diff(want, got)) > 20:
            raise NotAchievedException("AHRS2.Roll looks bad (want=%f got=%f)" %
                                       (want, got))

        want = math.degrees(simstate.pitch)
        got = math.degrees(ahrs2.pitch)
        if abs(mavextra.angle_diff(want, got)) > 20:
            raise NotAchievedException("AHRS2.Pitch looks bad (want=%f got=%f)" %
                                       (want, got))

        # check ATTITUDE_QUATERNION
        q = quaternion.Quaternion([
            attitude_quaternion.q1,
            attitude_quaternion.q2,
            attitude_quaternion.q3,
            attitude_quaternion.q4
        ])
        euler = q.euler
        self.progress("attquat:%s q:%s euler:%s" % (
            str(attitude_quaternion), q, euler))

        want = math.degrees(simstate.roll)
        got = math.degrees(euler[0])
        if mavextra.angle_diff(want, got) > 20:
            raise NotAchievedException("quat roll differs from attitude roll; want=%f got=%f" %
                                       (want, got))

        want = math.degrees(simstate.pitch)
        got = math.degrees(euler[1])
        if mavextra.angle_diff(want, got) > 20:
            raise NotAchievedException("quat pitch differs from attitude pitch; want=%f got=%f" %
                                       (want, got))

    def MultipleGPS(self):
        '''check ArduPilot behaviour across multiple GPS units'''
        self.assert_message_rate_hz('GPS2_RAW', 0)

        # we start sending GPS2_TYPE - but it will never actually be
        # filled in as _port[1] is only filled in in AP_GPS::init()
        self.start_subtest("Get GPS2_RAW as soon as we're configured for a second GPS")
        self.set_parameter("GPS2_TYPE", 1)
        self.assert_message_rate_hz('GPS2_RAW', 5)

        self.start_subtest("Ensure correct fix type when no connected GPS")
        m = self.assert_receive_message("GPS2_RAW")
        self.progress(self.dump_message_verbose(m))
        if m.fix_type != mavutil.mavlink.GPS_FIX_TYPE_NO_GPS:
            raise NotAchievedException("Incorrect fix type")

        self.start_subtest("Ensure detection when sim gps connected")
        self.set_parameter("SIM_GPS2_TYPE", 1)
        self.set_parameter("SIM_GPS2_ENABLE", 1)
        # a reboot is required after setting GPS2_TYPE.  We start
        # sending GPS2_RAW out, once the parameter is set, but a
        # reboot is required because _port[1] is only set in
        # AP_GPS::init() at boot time, so it will never be detected.
        self.context_collect("STATUSTEXT")
        self.reboot_sitl()
        self.wait_statustext("GPS 1: detected u-blox", check_context=True)
        self.wait_statustext("GPS 2: detected u-blox", check_context=True)
        m = self.assert_receive_message("GPS2_RAW")
        self.progress(self.dump_message_verbose(m))
        # would be nice for it to take some time to get a fix....
        if m.fix_type != mavutil.mavlink.GPS_FIX_TYPE_RTK_FIXED:
            raise NotAchievedException("Incorrect fix type")

        self.start_subtest("Check parameters are per-GPS")
        self.assert_parameter_value("SIM_GPS1_NUMSATS", 10)
        self.assert_gps_satellite_count("GPS_RAW_INT", 10)
        self.set_parameter("SIM_GPS1_NUMSATS", 13)
        self.assert_gps_satellite_count("GPS_RAW_INT", 13)

        self.assert_parameter_value("SIM_GPS2_NUMSATS", 10)
        self.assert_gps_satellite_count("GPS2_RAW", 10)
        self.set_parameter("SIM_GPS2_NUMSATS", 12)
        self.assert_gps_satellite_count("GPS2_RAW", 12)

        self.start_subtest("check that GLOBAL_POSITION_INT fails over")
        m = self.assert_receive_message("GLOBAL_POSITION_INT")
        gpi_alt = m.alt
        for msg in ["GPS_RAW_INT", "GPS2_RAW"]:
            m = self.assert_receive_message(msg)
            if abs(m.alt - gpi_alt) > 100:  # these are in mm
                raise NotAchievedException("Alt (%s) discrepancy; %d vs %d" %
                                           (msg, m.alt, gpi_alt))
        introduced_error = 10  # in metres
        self.set_parameter("SIM_GPS2_ALT_OFS", introduced_error)
        self.do_timesync_roundtrip()
        m = self.assert_receive_message("GPS2_RAW")
        if abs((m.alt-introduced_error*1000) - gpi_alt) > 100:
            raise NotAchievedException("skewed Alt (%s) discrepancy; %d+%d vs %d" %
                                       (msg, introduced_error*1000, m.alt, gpi_alt))
        m = self.assert_receive_message("GLOBAL_POSITION_INT")
        new_gpi_alt = m.alt
        if abs(gpi_alt - new_gpi_alt) > 100:
            raise NotAchievedException("alt moved unexpectedly")
        self.progress("Killing first GPS")
        self.set_parameter("SIM_GPS1_ENABLE", 0)
        self.delay_sim_time(1)
        self.progress("Checking altitude now matches second GPS")
        m = self.assert_receive_message("GLOBAL_POSITION_INT")
        new_gpi_alt2 = m.alt
        m = self.assert_receive_message("GPS2_RAW")
        if abs(new_gpi_alt2 - m.alt) > 100:
            raise NotAchievedException("Failover not detected")

    def fetch_file_via_ftp(self, path, timeout=20):
        '''returns the content of the FTP'able file at path'''
        self.progress("Retrieving (%s) using MAVProxy" % path)
        mavproxy = self.start_mavproxy()
        mavproxy.expect("Saved .* parameters to")
        ex = None
        tmpfile = tempfile.NamedTemporaryFile(mode='r', delete=False)
        try:
            mavproxy.send("module load ftp\n")
            mavproxy.expect(["Loaded module ftp", "module ftp already loaded"])
            mavproxy.send("ftp set debug 1\n")  # so we get the "Terminated session" message
            mavproxy.send("ftp get %s %s\n" % (path, tmpfile.name))
            mavproxy.expect("Getting")
            tstart = self.get_sim_time()
            while True:
                now = self.get_sim_time()
                if now - tstart > timeout:
                    raise NotAchievedException("expected complete transfer")
                self.progress("Polling status")
                mavproxy.send("ftp status\n")
                try:
                    mavproxy.expect("No transfer in progress", timeout=1)
                    break
                except Exception:
                    continue
            # terminate the connection, or it may still be in progress the next time an FTP is attempted:
            mavproxy.send("ftp cancel\n")
            mavproxy.expect("Terminated session")
        except Exception as e:
            self.print_exception_caught(e)
            ex = e

        self.stop_mavproxy(mavproxy)

        if ex is not None:
            raise ex

        return tmpfile.read()

    def MAVFTP(self):
        '''ensure MAVProxy can do MAVFTP to ardupilot'''
        mavproxy = self.start_mavproxy()
        ex = None
        try:
            mavproxy.send("module load ftp\n")
            mavproxy.expect(["Loaded module ftp", "module ftp already loaded"])
            mavproxy.send("ftp list\n")
            some_directory = None
            for entry in sorted(os.listdir(".")):
                if os.path.isdir(entry):
                    some_directory = entry
                    break
            if some_directory is None:
                raise NotAchievedException("No directories?!")
            expected_line = " D %s" % some_directory
            mavproxy.expect(expected_line)  # one line from the ftp list output
        except Exception as e:
            self.print_exception_caught(e)
            ex = e

        self.stop_mavproxy(mavproxy)

        if ex is not None:
            raise ex

    def write_content_to_filepath(self, content, filepath):
        '''write biunary content to filepath'''
        if not isinstance(content, bytes):
            raise NotAchievedException("Want bytes to write_content_to_filepath")
        with open(filepath, "wb") as f:
            f.write(content)
            f.close()

    def add_embedded_params_to_binary(self, binary, defaults):
        sys.path.insert(1, os.path.join(self.rootdir(), 'Tools', 'scripts'))
        import apj_tool

        # copy binary
        if getattr(self, "embedded_default_counter", None) is None:
            self.embedded_default_counter = 0
        self.embedded_default_counter += 1

        new_filepath = binary + "-newdefaults-%u" % self.embedded_default_counter
        shutil.copy(binary, new_filepath)

        # create file for defaults
        defaults_filepath = "embed-these-defaults.txt"
        self.write_content_to_filepath(defaults.encode('utf-8'), defaults_filepath)

        # do the needful
        a = apj_tool.embedded_defaults(new_filepath)
        if not a.find():
            raise NotAchievedException("Did not find defaults")
        a.set_file(defaults_filepath)
        a.save()

        return new_filepath

    def sample_param_file_content(self):
        '''returns an array of tuples, (param file content, dictionary of what
        parameter values should be tested afterwards)'''
        dashes = "-" * 150
        return [
            # multiple lines:
            ("""SERIAL5_BAUD 1234
SERIAL4_BAUD=4567
""", {"SERIAL5_BAUD": 1234, "SERIAL4_BAUD": 4567}),

            # line missing CR:
            ("""SERIAL5_BAUD 6789""", {"SERIAL5_BAUD": 6789}),

            # commented-out line:
            ("""# SERIAL5_BAUD 6789""", {"SERIAL5_BAUD": 57}),

            # very long comment line followed by more text:
            ("""SERIAL4_BAUD 6789
# awesome dashes: %s
SERIAL5_BAUD 128
""" % dashes, {"SERIAL4_BAUD": 6789, "SERIAL5_BAUD": 128}),

        ]

    def EmbeddedParamParser(self):
        '''check parsing of embedded defaults file'''
        # warning: don't try this test on Copter as it won't boot
        # without the passed-in file (which we don't parse if there
        # are embedded defaults)
        for (content, param_values) in self.sample_param_file_content():
            binary_with_defaults = self.add_embedded_params_to_binary(self.binary, content)
            self.customise_SITL_commandline([], binary=binary_with_defaults)
            self.assert_parameter_values(param_values)

    def _MotorTest(self,
                   command,
                   timeout=60,
                   mot1_servo_chan=1,
                   mot4_servo_chan=4,
                   wait_finish_text=True,
                   quadplane=False):
        '''Run Motor Tests (with specific mavlink message)'''
        self.start_subtest("Testing PWM output")
        pwm_in = 1300
        # default frame is "+" - start motor of 2 is "B", which is
        # motor 1... see
        # https://ardupilot.org/copter/docs/connect-escs-and-motors.html
        command(
            mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
            p1=2, # start motor
            p2=mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM,
            p3=pwm_in, # pwm-to-output
            p4=2, # timeout in seconds
            p5=2, # number of motors to output
            p6=0, # compass learning
            timeout=timeout,
        )
        # long timeouts here because there's a pause before we start motors
        self.wait_servo_channel_value(mot1_servo_chan, pwm_in, timeout=10)
        self.wait_servo_channel_value(mot4_servo_chan, pwm_in, timeout=10)
        if wait_finish_text:
            self.wait_statustext("finished motor test")
        self.wait_disarmed()
        # wait_disarmed is not sufficient here; it's actually the
        # *motors* being armed which causes the problem, not the
        # vehicle's arm state!  Could we use SYS_STATUS here instead?
        self.delay_sim_time(10)
        self.end_subtest("Testing PWM output")

        self.start_subtest("Testing percentage output")
        percentage = 90.1
        # since MOT_SPIN_MIN and MOT_SPIN_MAX are not set, the RC3
        # min/max are used.
        expected_pwm = 1000 + (self.get_parameter("RC3_MAX") - self.get_parameter("RC3_MIN")) * percentage/100.0
        # quadplane doesn't use the expect value - it wants 1900
        # rather than the calculated 1901...
        if quadplane:
            expected_pwm = 1900
        self.progress("expected pwm=%f" % expected_pwm)
        command(
            mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
            p1=2, # start motor
            p2=mavutil.mavlink.MOTOR_TEST_THROTTLE_PERCENT,
            p3=percentage, # pwm-to-output
            p4=2, # timeout in seconds
            p5=2, # number of motors to output
            p6=0, # compass learning
            timeout=timeout,
        )
        self.wait_servo_channel_value(mot1_servo_chan, expected_pwm, timeout=10)
        self.wait_servo_channel_value(mot4_servo_chan, expected_pwm, timeout=10)
        if wait_finish_text:
            self.wait_statustext("finished motor test")
        self.wait_disarmed()
        # wait_disarmed is not sufficient here; it's actually the
        # *motors* being armed which causes the problem, not the
        # vehicle's arm state!  Could we use SYS_STATUS here instead?
        self.delay_sim_time(10)
        self.end_subtest("Testing percentage output")

    def MotorTest(self, timeout=60, **kwargs):
        '''Run Motor Tests'''  # common to Copter and QuadPlane
        self._MotorTest(self.run_cmd, **kwargs)
        self._MotorTest(self.run_cmd_int, **kwargs)

    def test_ibus_voltage(self, message):
        batt = self.assert_receive_message(
            'BATTERY_STATUS',
            timeout=5,
            condition="BATTERY_STATUS.id==0"
        )
        if batt is None:
            raise NotAchievedException("Did not get BATTERY_STATUS message")
        want = int(batt.voltages[0] * 0.1)

        if want != message.get_sensor_value():
            raise NotAchievedException("Bad voltage (want=%u got=%u)" %
                                       (want, message.get_sensor_value()))
        self.progress("iBus voltage OK")

    def test_ibus_armed(self, message):
        got = message.get_sensor_value()
        want = 1 if self.armed() else 0
        if got != want:
            raise NotAchievedException("Expected armed %u got %u" %
                                       (want, got))
        self.progress("iBus armed OK")

    def test_ibus_mode(self, message):
        got = message.get_sensor_value()
        want = self.mav.messages['HEARTBEAT'].custom_mode
        if got != want:
            raise NotAchievedException("Expected mode %u got %u" %
                                       (want, got))
        self.progress("iBus mode OK")

    def test_ibus_get_response(self, ibus, timeout=5):
        tstart = self.get_sim_time()
        while True:
            now = self.get_sim_time()
            if now - tstart > timeout:
                raise AutoTestTimeoutException("Failed to get ibus data")
            packet = ibus.update()
            if packet is not None:
                return packet

    def IBus(self):
        '''test the IBus protocol'''
        self.set_parameter("SERIAL5_PROTOCOL", 49)
        self.customise_SITL_commandline([
            "--serial5=tcp:6735" # serial5 spews to localhost:6735
        ])
        ibus = IBus(("127.0.0.1", 6735))
        ibus.connect()

        # expected_sensors should match the list created in AP_IBus_Telem
        expected_sensors = {
            # sensor id : (len, IBUS_MEAS_TYPE_*, test_function)
            1: (2, 0x15, self.test_ibus_armed),
            2: (2, 0x16, self.test_ibus_mode),
            5: (2, 0x03, self.test_ibus_voltage),
        }

        for (sensor_addr, results) in expected_sensors.items():
            # first make sure it is present:
            request = IBusRequest_DISCOVER(sensor_addr)
            ibus.port.sendall(request.for_wire())

            packet = self.test_ibus_get_response(ibus)
            if packet.address != sensor_addr:
                raise ValueError("Unexpected sensor address %u" %
                                 (packet.address,))

            (expected_length, expected_type, validator) = results

            self.progress("Getting sensor (%x) type" % (sensor_addr))
            request = IBusRequest_GET_SENSOR_TYPE(sensor_addr)
            ibus.port.sendall(request.for_wire())

            packet = self.test_ibus_get_response(ibus)
            if packet.address != sensor_addr:
                raise ValueError("Unexpected sensor address %u" %
                                 (packet.address,))

            if packet.sensor_type != expected_type:
                raise ValueError("Unexpected sensor type want=%u got=%u" %
                                 (expected_type, packet.sensor_type))

            if packet.sensor_length != expected_length:
                raise ValueError("Unexpected sensor len want=%u got=%u" %
                                 (expected_length, packet.sensor_length))

            self.progress("Getting sensor (%x) value" % (sensor_addr))
            request = IBusRequest_GET_SENSOR_VALUE(sensor_addr)
            ibus.port.sendall(request.for_wire())

            packet = self.test_ibus_get_response(ibus)
            validator(packet)

        # self.progress("Ensure we cover all sensors")
        # for i in range(1, 17):  # zero is special
        #     if i in expected_sensors:
        #         continue
        #     request = IBusRequest_DISCOVER(i)
        #     ibus.port.sendall(request.for_wire())

        #     try:
        #         packet = self.test_ibus_get_response(ibus, timeout=1)
        #     except AutoTestTimeoutException:
        #         continue
        #     self.progress("Received packet (%s)" % str(packet))
        #     raise NotAchievedException("IBus sensor %u is untested" % i)

    def tests(self):
        return [
            self.PIDTuning,
            self.ArmFeatures,
            self.SetHome,
            self.ConfigErrorLoop,
            self.CPUFailsafe,
            self.Parameters,
            self.LoggerDocumentation,
            self.Logging,
            self.GetCapabilities,
            self.InitialMode,
        ]

    def post_tests_announcements(self):
        if self._show_test_timings:
            if self.waiting_to_arm_count == 0:
                avg = None
            else:
                avg = self.total_waiting_to_arm_time/self.waiting_to_arm_count
            self.progress("Spent %f seconds waiting to arm. count=%u avg=%s" %
                          (self.total_waiting_to_arm_time,
                           self.waiting_to_arm_count,
                           str(avg)))
            self.show_test_timings()
        if self.forced_post_test_sitl_reboots != 0:
            print("Had to force-reset SITL %u times" %
                  (self.forced_post_test_sitl_reboots,))

    def autotest(self, tests=None, allow_skips=True, step_name=None):
        """Autotest used by ArduPilot autotest CI."""
        if tests is None:
            tests = self.tests()
        all_tests = []
        for test in tests:
            if not isinstance(test, Test):
                test = Test(test)
            all_tests.append(test)

        disabled = self.disabled_tests()
        if not allow_skips:
            disabled = {}
        skip_list = []
        tests = []
        seen_test_name = set()
        for test in all_tests:
            if test.name in seen_test_name:
                raise ValueError("Duplicate test name %s" % test.name)
            seen_test_name.add(test.name)
            if test.name in disabled:
                self.progress("##### %s is skipped: %s" % (test, disabled[test.name]))
                skip_list.append((test, disabled[test.name]))
                continue
            tests.append(test)

        results = self.run_tests(tests)

        if len(skip_list):
            self.progress("Skipped tests:")
            for skipped in skip_list:
                (test, reason) = skipped
                print("  %s (see %s)" % (test.name, reason))

        self.fail_list = list(filter(lambda x : not x.passed, results))
        if len(self.fail_list):
            self.progress("Failing tests:")
            for failure in self.fail_list:
                print(str(failure))

        self.post_tests_announcements()
        if self.generate_junit:
            if step_name is None:
                step_name = "Unknown_step_name"
            step_name.replace(".", "_")
            self.create_junit_report(step_name, results, skip_list)

        return len(self.fail_list) == 0

    def wait_circling_point_with_radius(self, loc, want_radius, epsilon=5.0, min_circle_time=5, timeout=120, track_angle=True):
        on_radius_start_heading = None
        average_radius = 0.0
        done_time = False
        done_angle = False
        tstart = self.get_sim_time()
        circle_time_start = tstart
        while True:
            now = self.get_sim_time()
            if now - tstart > timeout:
                raise AutoTestTimeoutException("Did not get onto circle")
            here = self.mav.location()
            got_radius = self.get_distance(loc, here)
            average_radius = 0.95*average_radius + 0.05*got_radius
            on_radius = abs(got_radius - want_radius) < epsilon
            m = self.assert_receive_message('VFR_HUD')
            heading = m.heading
            on_string = "off"
            got_angle = ""
            if on_radius_start_heading is not None:
                got_angle = "%0.2f" % abs(on_radius_start_heading - heading) # FIXME
                on_string = "on"

            want_angle = 180 # we don't actually get this (angle-substraction issue.  But we get enough...
            got_circle_time = self.get_sim_time() - circle_time_start
            bits = [
                f"wait-circling: got-r={got_radius:.2f} want-r={want_radius}",
                f"avg-r={average_radius} {on_string}",
                f"t={got_circle_time:0.2f}/{min_circle_time}",
            ]
            if track_angle:
                bits.append(f"want-a={want_angle:0.1f} got-a={got_angle}")

            self.progress(" ".join(bits))
            if on_radius:
                if on_radius_start_heading is None:
                    on_radius_start_heading = heading
                    average_radius = got_radius
                    circle_time_start = now
                    continue
                if abs(on_radius_start_heading - heading) > want_angle: # FIXME
                    done_angle = True
                if got_circle_time > min_circle_time:
                    done_time = True
                if not track_angle:
                    done_angle = True
                if done_time and done_angle:
                    return
                continue
            on_radius_start_heading = None
            circle_time_start = now

    def create_junit_report(self, test_name: str, results: List[Result], skip_list: List[Tuple[Test, Dict[str, str]]]) -> None:
        """Generate Junit report from the autotest results"""
        from junitparser import TestCase, TestSuite, JUnitXml, Skipped, Failure
        frame = self.vehicleinfo_key()
        xml_filename = f"autotest_result_{frame}_{test_name}_junit.xml"
        self.progress(f"Writing test result in jUnit format to {xml_filename}\n")

        suite = TestSuite(f"Autotest {frame} {test_name}")
        suite.timestamp = datetime.now().replace(microsecond=0).isoformat()
        for result in results:
            case = TestCase(f"{result.test.name}", f"{frame}", result.time_elapsed)
            # f"{result.test.description}"
            # case.file ## TODO : add file properties to match test location
            if not result.passed:
                case.result = [Failure(f"see {result.debug_filename}", f"{result.exception}")]
            suite.add_testcase(case)
        for skipped in skip_list:
            (test, reason) = skipped
            case = TestCase(f"{test.name}", f"{test.function}")
            case.result = [Skipped(f"Skipped : {reason}")]

        suite.add_property("Firmware Version Major", self.fcu_firmware_version[0])
        suite.add_property("Firmware Version Minor", self.fcu_firmware_version[1])
        suite.add_property("Firmware Version Rev", self.fcu_firmware_version[2])
        suite.add_property("Firmware hash", self.fcu_firmware_hash)
        suite.add_property("Git hash", self.githash)
        mavproxy_version = util.MAVProxy_version()
        suite.add_property("Mavproxy Version Major", mavproxy_version[0])
        suite.add_property("Mavproxy Version Minor", mavproxy_version[1])
        suite.add_property("Mavproxy Version Rev", mavproxy_version[2])

        xml = JUnitXml()
        xml.add_testsuite(suite)
        xml.write(xml_filename, pretty=True)

    def mavfft_fttd(self, sensor_type, sensor_instance, since, until):
        '''display fft for raw ACC data in current logfile'''

        '''object to store data about a single FFT plot'''
        class MessageData(object):
            def __init__(self, ffth):
                self.seqno = -1
                self.fftnum = ffth.N
                self.sensor_type = ffth.type
                self.instance = ffth.instance
                self.sample_rate_hz = ffth.smp_rate
                self.multiplier = ffth.mul
                self.sample_us = ffth.SampleUS
                self.data = {}
                self.data["X"] = []
                self.data["Y"] = []
                self.data["Z"] = []
                self.holes = False
                self.freq = None

            def add_fftd(self, fftd):
                self.seqno += 1
                self.data["X"].extend(fftd.x)
                self.data["Y"].extend(fftd.y)
                self.data["Z"].extend(fftd.z)

        mlog = self.dfreader_for_current_onboard_log()

        # see https://holometer.fnal.gov/GH_FFT.pdf for a description of the techniques used here
        messages = []
        messagedata = None
        while True:
            m = mlog.recv_match()
            if m is None:
                break
            msg_type = m.get_type()
            if msg_type == "ISBH":
                if messagedata is not None:
                    if (messagedata.sensor_type == sensor_type and
                            messagedata.instance == sensor_instance and
                            messagedata.sample_us > since and
                            messagedata.sample_us < until):
                        messages.append(messagedata)
                messagedata = MessageData(m)
                continue

            if msg_type == "ISBD":
                if (messagedata is not None and
                        messagedata.sensor_type == sensor_type and
                        messagedata.instance == sensor_instance):
                    messagedata.add_fftd(m)

        fft_len = len(messages[0].data["X"])
        sum_fft = {
            "X": numpy.zeros(int(fft_len / 2 + 1)),
            "Y": numpy.zeros(int(fft_len / 2 + 1)),
            "Z": numpy.zeros(int(fft_len / 2 + 1)),
        }
        sample_rate = 0
        counts = 0
        window = numpy.hanning(fft_len)
        # The returned float array f contains the frequency bin centers in cycles per unit of the
        # sample spacing (with zero at the start).
        freqmap = numpy.fft.rfftfreq(fft_len, 1.0 / messages[0].sample_rate_hz)

        # calculate NEBW constant
        S2 = numpy.inner(window, window)

        for message in messages:
            for axis in ["X", "Y", "Z"]:
                # normalize data and convert to dps in order to produce more meaningful magnitudes
                if message.sensor_type == 1:
                    d = numpy.array(numpy.degrees(message.data[axis])) / float(message.multiplier)
                else:
                    d = numpy.array(message.data[axis]) / float(message.multiplier)

                # apply window to the input
                d *= window
                # perform RFFT
                d_fft = numpy.fft.rfft(d)
                # convert to squared complex magnitude
                d_fft = numpy.square(abs(d_fft))
                # remove DC component
                d_fft[0] = 0
                d_fft[-1] = 0
                # accumulate the sums
                sum_fft[axis] += d_fft

            sample_rate = message.sample_rate_hz
            counts += 1

        numpy.seterr(divide='ignore')
        psd = {}
        for axis in ["X", "Y", "Z"]:
            # normalize output to averaged PSD
            psd[axis] = 2 * (sum_fft[axis] / counts) / (sample_rate * S2)
            psd[axis] = 10 * numpy.log10(psd[axis])

        psd["F"] = freqmap

        return psd

    def model_defaults_filepath(self, model, vehicleinfo_key=None):
        if vehicleinfo_key is None:
            vehicle = self.vehicleinfo_key()
        else:
            vehicle = vehicleinfo_key

        vinfo = vehicleinfo.VehicleInfo()
        defaults_filepath = vinfo.options[vehicle]["frames"][model]["default_params_filename"]
        if isinstance(defaults_filepath, str):
            defaults_filepath = [defaults_filepath]
        defaults_list = []
        for d in defaults_filepath:
            defaults_list.append(util.reltopdir(os.path.join(testdir, d)))
        return defaults_list

    def load_default_params_file(self, filename):
        '''load a file from Tools/autotest/default_params'''
        filepath = util.reltopdir(os.path.join("Tools", "autotest", "default_params", filename))
        self.repeatedly_apply_parameter_filepath(filepath)

    def load_params_file(self, filename):
        '''load a file from test-specific directory'''
        filepath = os.path.join(testdir, self.current_test_name_directory, filename)
        self.repeatedly_apply_parameter_filepath(filepath)

    def send_pause_command(self):
        '''pause AUTO/GUIDED modes'''
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
            p1=0, # 0: pause, 1: continue
        )

    def send_resume_command(self):
        '''resume AUTO/GUIDED modes'''
        self.run_cmd(
            mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
            p1=1, # 0: pause, 1: continue
        )

    def enum_state_name(self, enum_name, state, pretrim=None):
        e = mavutil.mavlink.enums[enum_name]
        e_value = e[state]
        name = e_value.name
        if pretrim is not None:
            if not pretrim.startswith(pretrim):
                raise NotAchievedException("Expected %s to pretrim" % (pretrim))
            name = name.replace(pretrim, "")
        return name

    def vtol_state_name(self, state):
        return self.enum_state_name("MAV_VTOL_STATE", state, pretrim="MAV_VTOL_STATE_")

    def landed_state_name(self, state):
        return self.enum_state_name("MAV_LANDED_STATE", state, pretrim="MAV_LANDED_STATE_")

    def assert_extended_sys_state(self, vtol_state, landed_state):
        m = self.assert_receive_message('EXTENDED_SYS_STATE')
        if m.vtol_state != vtol_state:
            raise ValueError("Bad MAV_VTOL_STATE.  Want=%s got=%s" %
                             (self.vtol_state_name(vtol_state),
                              self.vtol_state_name(m.vtol_state)))
        if m.landed_state != landed_state:
            raise ValueError("Bad MAV_LANDED_STATE.  Want=%s got=%s" %
                             (self.landed_state_name(landed_state),
                              self.landed_state_name(m.landed_state)))

    def wait_extended_sys_state(self, vtol_state, landed_state, timeout=10):
        tstart = self.get_sim_time()
        while True:
            if self.get_sim_time() - tstart > timeout:
                raise NotAchievedException("Did not achieve vol/landed states")
            self.progress("Waiting for MAV_VTOL_STATE=%s MAV_LANDED_STATE=%s" %
                          (self.vtol_state_name(vtol_state),
                           self.landed_state_name(landed_state)))
            m = self.assert_receive_message('EXTENDED_SYS_STATE', verbose=True)
            if m.landed_state != landed_state:
                self.progress("Wrong MAV_LANDED_STATE (want=%s got=%s)" %
                              (self.landed_state_name(landed_state),
                               self.landed_state_name(m.landed_state)))
                continue
            if m.vtol_state != vtol_state:
                self.progress("Wrong MAV_VTOL_STATE (want=%s got=%s)" %
                              (self.vtol_state_name(vtol_state),
                               self.vtol_state_name(m.vtol_state)))
                continue

            self.progress("vtol and landed states match")
            return

    def setGCSfailsafe(self, paramValue):
        # Slow down the sim rate if GCS Failsafe is in use
        if paramValue == 0:
            self.set_parameters({
                "FS_GCS_ENABLE": paramValue,
                "SIM_SPEEDUP": 10,
            })
        else:
            self.set_parameters({
                "SIM_SPEEDUP": 4,
                "FS_GCS_ENABLE": paramValue,
            })

    def setup_servo_mount(self, roll_servo=5, pitch_servo=6, yaw_servo=7):
        '''configure a rpy servo mount; caller responsible for required rebooting'''
        self.progress("Setting up servo mount")
        self.set_parameters({
            "MNT1_TYPE": 1,
            "MNT1_PITCH_MIN": -45,
            "MNT1_PITCH_MAX": 45,
            "RC6_OPTION": 213,  # MOUNT1_PITCH
            "SERVO%u_FUNCTION" % roll_servo: 8, # roll
            "SERVO%u_FUNCTION" % pitch_servo: 7, # pitch
            "SERVO%u_FUNCTION" % yaw_servo: 6, # yaw
        })