Added Roll Pitch Yawrate Thrust offboard test. Testing...

.ci/Jenkinsfile-SITL_tests

@@ -60,6 +60,12 @@ pipeline {
               mission: "",
               vehicle: "iris"
             ],
+            [
+              name: "MC_offboard_rpyrt",
+              test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
 
             [
               name: "Rover 1",

.ci/Jenkinsfile-SITL_tests_ASan

@@ -60,6 +60,12 @@ pipeline {
               mission: "",
               vehicle: "iris"
             ],
+            [
+              name: "MC_offboard_rpyrt",
+              test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
 
             [
               name: "Rover 1",

.ci/Jenkinsfile-SITL_tests_coverage

@@ -34,6 +34,12 @@ pipeline {
               mission: "",
               vehicle: "iris"
             ],
+            [
+              name: "MC_offboard_rpyrt",
+              test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
+              mission: "",
+              vehicle: "iris"
+            ],
 
             [
               name: "Rover 1",

Makefile

@@ -379,6 +379,7 @@ tests_mission_coverage:
 tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
 
 tests_avoidance: rostest
 	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test

integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py

@@ -0,0 +1,177 @@
+#!/usr/bin/env python2
+#***************************************************************************
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#***************************************************************************/
+#
+# @author Pedro Roque <padr@kth.se>
+#
+
+from __future__ import division
+
+PKG = 'px4'
+
+import rospy
+from geometry_msgs.msg import Quaternion, Vector3
+from mavros_msgs.msg import AttitudeTarget
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+from six.moves import xrange
+from std_msgs.msg import Header
+from threading import Thread
+from tf.transformations import quaternion_from_euler
+
+
+class MavrosOffboardYawrateTest(MavrosTestCommon):
+    """
+    Tests flying in offboard control by sending a Roll Pitch Yawrate Thrust (RPYrT)
+    as attitude setpoint.
+
+    For the test to be successful it needs to achieve a desired yawrate and height.
+    """
+
+    def setUp(self):
+        super(MavrosOffboardYawrateTest, self).setUp()
+
+        self.att = AttitudeTarget()
+
+        self.att_setpoint_pub = rospy.Publisher(
+            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
+
+        # send setpoints in seperate thread to better prevent failsafe
+        self.att_thread = Thread(target=self.send_att, args=())
+        self.att_thread.daemon = True
+        self.att_thread.start()
+
+        # desired yawrate target
+        self.des_yawrate = 0.1
+        self.yawrate_tol = 0.02
+
+    def tearDown(self):
+        super(MavrosOffboardYawrateTest, self).tearDown()
+
+    #
+    # Helper methods
+    #
+    def send_att(self):
+        rate = rospy.Rate(10)  # Hz
+        self.att.body_rate = Vector3()
+        self.att.header = Header()
+        self.att.header.frame_id = "base_footprint"
+        self.att.orientation = self.local_position.pose.orientation
+
+        self.att.body_rate.x = 0
+        self.att.body_rate.y = 0
+        self.att.body_rate.z = self.des_yawrate
+
+        self.att.thrust = 0.59
+
+        self.att.type_mask = 3 # ignore roll and pitch rate
+
+        while not rospy.is_shutdown():
+            self.att.header.stamp = rospy.Time.now()
+            self.att_setpoint_pub.publish(self.att)
+            try:  # prevent garbage in console output when thread is killed
+                rate.sleep()
+            except rospy.ROSInterruptException:
+                pass
+
+    #
+    # Test method
+    #
+    def test_attctl(self):
+        """Test offboard yawrate control"""
+
+        # boundary to cross
+        # Stay leveled, go up, and test yawrate
+        boundary_x = 5
+        boundary_y = 5
+        boundary_z = 10
+
+
+        # make sure the simulation is ready to start the mission
+        self.wait_for_topics(60)
+        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
+                                   10, -1)
+
+        self.log_topic_vars()
+        self.set_arm(True, 5)
+        self.set_mode("OFFBOARD", 5)
+        rospy.loginfo("run mission")
+        rospy.loginfo("attempting to cross boundary | z: {2} , stay within x: {0}  y: {1} \n   and achieve {3} yawrate".
+                      format(boundary_x, boundary_y, boundary_z, self.des_yawrate))
+
+	    # does it cross expected boundaries in 'timeout' seconds?
+        timeout = 90  # (int) seconds
+        loop_freq = 2  # Hz
+        rate = rospy.Rate(loop_freq)
+        crossed = False
+        for i in xrange(timeout * loop_freq):
+            if (self.local_position.pose.position.x < boundary_x and
+	    	    self.local_position.pose.position.x > -boundary_x and
+                    self.local_position.pose.position.y < boundary_y and
+		    self.local_position.pose.position.y > -boundary_y and
+                    self.local_position.pose.position.z > boundary_z and
+		    abs(self.imu_data.angular_velocity.z - self.des_yawrate) < self.yawrate_tol):
+                rospy.loginfo("Test successful. Final altitude and yawrate achieved")
+                crossed = True
+                break
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(crossed, (
+            "took too long to finish test | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} \n " \
+	    "                             | current att qx: {3:.2f}, qy: {4:.2f}, qz: {5:.2f} qw: {6:.2f}, yr: {7:.2f}| timeout(seconds): {8}".
+            format(self.local_position.pose.position.x,
+                   self.local_position.pose.position.y,
+                   self.local_position.pose.position.z,
+		   self.imu_data.orientation.x,
+		   self.imu_data.orientation.y,
+		   self.imu_data.orientation.z,
+		   self.imu_data.orientation.w,
+		   self.imu_data.angular_velocity.z,
+		   timeout)))
+
+        self.set_mode("AUTO.LAND", 5)
+        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
+                                   90, 0)
+        self.set_arm(False, 5)
+
+
+if __name__ == '__main__':
+    import rostest
+    rospy.init_node('test_node', anonymous=True)
+
+    rostest.rosrun(PKG, 'mavros_offboard_yawrate_test',
+                   MavrosOffboardYawrateTest)

integrationtests/python_src/px4_it/mavros/mavros_test_common.py

@@ -10,7 +10,7 @@ from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, State, \
 from mavros_msgs.srv import CommandBool, ParamGet, SetMode, WaypointClear, \
                             WaypointPush
 from pymavlink import mavutil
-from sensor_msgs.msg import NavSatFix
+from sensor_msgs.msg import NavSatFix, Imu
 from six.moves import xrange
 
 
@@ -22,6 +22,7 @@ class MavrosTestCommon(unittest.TestCase):
         self.altitude = Altitude()
         self.extended_state = ExtendedState()
         self.global_position = NavSatFix()
+        self.imu_data = Imu()
         self.home_position = HomePosition()
         self.local_position = PoseStamped()
         self.mission_wp = WaypointList()
@@ -32,7 +33,7 @@ class MavrosTestCommon(unittest.TestCase):
             key: False
             for key in [
                 'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
-                'mission_wp', 'state'
+                'mission_wp', 'state', 'imu'
             ]
         }
 
@@ -66,6 +67,9 @@ class MavrosTestCommon(unittest.TestCase):
         self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
                                                NavSatFix,
                                                self.global_position_callback)
+        self.imu_data_sub = rospy.Subscriber('mavros/imu/data',
+                                               Imu,
+                                               self.imu_data_callback)
         self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
                                              HomePosition,
                                              self.home_position_callback)
@@ -114,6 +118,12 @@ class MavrosTestCommon(unittest.TestCase):
         if not self.sub_topics_ready['global_pos']:
             self.sub_topics_ready['global_pos'] = True
 
+    def imu_data_callback(self, data):
+        self.imu_data = data
+
+        if not self.sub_topics_ready['imu']:
+            self.sub_topics_ready['imu'] = True
+
     def home_position_callback(self, data):
         self.home_position = data
 

test/mavros_posix_tests_offboard_rpyrt_ctl.test

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- Posix SITL MAVROS integration tests -->
+    <!-- Test offboard attitude control -->
+    <arg name="est" default="ekf2"/>
+    <arg name="gui" default="false"/>
+    <arg name="interactive" default="false"/>
+    <arg name="vehicle" default="iris"/>
+    <!-- MAVROS, PX4 SITL, Gazebo -->
+    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
+        <arg name="est" value="$(arg est)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="interactive" value="$(arg interactive)"/>
+        <arg name="respawn_gazebo" value="true"/>
+        <arg name="respawn_mavros" value="true"/>
+        <arg name="vehicle" value="$(arg vehicle)"/>
+        <arg name="verbose" value="true"/>
+    </include>
+    <!-- ROStest -->
+    <test test-name="mavros_offboard_yawrate_test" pkg="px4" type="mavros_offboard_yawrate_test.py" time-limit="300.0"/>
+</launch>