Integration tests: use separate commands to set mode and arm

integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py

@@ -40,6 +40,7 @@ PKG = 'px4'
 import unittest
 import rospy
 import rosbag
+import time
 
 from std_msgs.msg import Header
 from std_msgs.msg import Float64
@@ -122,7 +123,14 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
             # (need to wait the first few rounds until PX4 has the offboard stream)
             if not armed and count > 5:
                 self._srv_cmd_long(False, 176, False,
-                                   128 | 1, 6, 0, 0, 0, 0, 0)
+                                   1, 6, 0, 0, 0, 0, 0)
+                # make sure the first command doesn't get lost
+                time.sleep(1)
+
+                self._srv_cmd_long(False, 400, False,
+                                   # arm
+                                   1, 0, 0, 0, 0, 0, 0)
+
                 armed = True
 
             if (self.local_position.pose.position.x > 5

integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py

@@ -41,6 +41,7 @@ import unittest
 import rospy
 import math
 import rosbag
+import time
 
 from numpy import linalg
 import numpy as np
@@ -131,7 +132,14 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             # (need to wait the first few rounds until PX4 has the offboard stream)
             if not self.armed and count > 5:
                 self._srv_cmd_long(False, 176, False,
-                                   128 | 1, 6, 0, 0, 0, 0, 0)
+                                   1, 6, 0, 0, 0, 0, 0)
+                # make sure the first command doesn't get lost
+                time.sleep(1)
+
+                self._srv_cmd_long(False, 400, False,
+                                   # arm
+                                   1, 0, 0, 0, 0, 0, 0)
+
                 self.armed = True
 
             if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 1):

integrationtests/python_src/px4_it/mavros/mission_test.py

@@ -43,6 +43,7 @@ import math
 import rosbag
 import sys
 import os
+import time
 
 import mavros
 from pymavlink import mavutil
@@ -174,10 +175,16 @@ class MavrosMissionTest(unittest.TestCase):
             (self.mission_name, lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d)))
 
     def run_mission(self):
-        """switch mode: armed | auto"""
+        """switch mode: auto and arm"""
         self._srv_cmd_long(False, 176, False,
-                           # arm | custom, auto, mission
+                           # custom, auto, mission
-                           128 | 1, 4, 4, 0, 0, 0, 0)
+                           1, 4, 4, 0, 0, 0, 0)
+        # make sure the first command doesn't get lost
+        time.sleep(1)
+
+        self._srv_cmd_long(False, 400, False,
+                           # arm
+                           1, 0, 0, 0, 0, 0, 0)
 
     def wait_until_ready(self):
         """FIXME: hack to wait for simulation to be ready"""