Tools: remove hard-coded FRAME global, specify same via parameter

Tools/autotest/arducopter.py

@@ -21,7 +21,6 @@ from pysim import util
 # get location of scripts
 testdir = os.path.dirname(os.path.realpath(__file__))
 
-FRAME = '+'
 HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
 AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
 
@@ -954,7 +953,7 @@ def setup_rc(mavproxy):
     mavproxy.send('rc 3 1000\n')
 
 
-def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
+def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame='+', params_file=None):
     """Fly ArduCopter in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -963,12 +962,14 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
     global homeloc
 
     home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
-    sitl = util.start_SITL(binary, wipe=True, model='+', home=home, speedup=speedup_default)
+    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
     mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
     mavproxy.expect('Received [0-9]+ parameters')
 
     # setup test parameters
-    mavproxy.send("param load %s/default_params/copter.parm\n" % testdir)
+    if params_file is None:
+        params_file = "{testdir}/default_params/copter.parm"
+    mavproxy.send("param load %s\n" % params_file.format(testdir=testdir))
     mavproxy.expect('Loaded [0-9]+ parameters')
     mavproxy.send("param set LOG_REPLAY 1\n")
     mavproxy.send("param set LOG_DISARMED 1\n")
@@ -978,7 +979,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
     util.pexpect_close(mavproxy)
     util.pexpect_close(sitl)
 
-    sitl = util.start_SITL(binary, model='+', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
+    sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip