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px4-firmware
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fixed some lint errors and removed arming

This commit is contained in:
Andreas Antener 2015-03-13 20:19:46 +01:00
parent 60d2346f7a
commit 3e02ab3cd7
1 changed files with 17 additions and 32 deletions
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49
integrationtests/demo_tests/mavros_offboard_attctl_test.py
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@ -68,45 +68,27 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
rospy.wait_for_service('iris/mavros/cmd/arming', 30)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pubAtt = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
self.pubThr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.rateSec = rospy.Rate(1)
self.hasPos = False
self.controlMode = vehicle_control_mode()
self.has_pos = False
self.control_mode = vehicle_control_mode()
self.local_position = PoseStamped()
#
# General callback functions used in tests
#
def position_callback(self, data):
self.hasPos = True
self.localPosition = data
self.has_pos = True
self.local_position = data
def vehicle_control_mode_callback(self, data):
self.controlMode = data
#
# Helper methods
#
def arm(self):
return self.cmdArm(value=True)
self.control_mode = data
#
# Test offboard position control
#
def test_attctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_attctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
# set some attitude and thrust
att = PoseStamped()
att.header = Header()
@ -121,19 +103,22 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
# does it cross expected boundaries in X seconds?
count = 0
timeout = 120
while(count < timeout):
while count < timeout:
# update timestamp for each published SP
att.header.stamp = rospy.Time.now()
self.pubAtt.publish(att)
self.pubThr.publish(throttle)
self.pub_att.publish(att)
self.pub_thr.publish(throttle)
if (self.localPosition.pose.position.x > 5
and self.localPosition.pose.position.z > 5
and self.localPosition.pose.position.y < -5):
if (self.local_position.pose.position.x > 5
and self.local_position.pose.position.z > 5
and self.local_position.pose.position.y < -5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
self.assertTrue(self.control_mode.flag_control_attitude_enabled, "flag_control_attitude_enabled is not set")
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(count < timeout, "took too long to cross boundaries")