forked from Archive/PX4-Autopilot
fix headers and indentation
This commit is contained in:
parent
952f91738e
commit
638022f7ad
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@ -1,4 +1,40 @@
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#!/usr/bin/env python
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#***************************************************************************
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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||||
# are met:
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||||
#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#***************************************************************************/
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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PKG = 'px4'
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import sys
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@ -10,28 +46,28 @@ from manual_input import ManualInput
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class ArmTest(unittest.TestCase):
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#
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# General callback functions used in tests
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#
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def actuator_armed_callback(self, data):
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self.actuatorStatus = data
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#
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# Test arming
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#
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def test_arm(self):
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rospy.init_node('test_node', anonymous=True)
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sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
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#
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# General callback functions used in tests
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#
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def actuator_armed_callback(self, data):
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self.actuatorStatus = data
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#
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# Test arming
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#
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def test_arm(self):
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rospy.init_node('test_node', anonymous=True)
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sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
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# method to test
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arm = ManualInput()
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arm.arm()
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# method to test
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arm = ManualInput()
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arm.arm()
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self.assertEquals(self.actuatorStatus.armed, True, "not armed")
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self.assertEquals(self.actuatorStatus.armed, True, "not armed")
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'arm_test', ArmTest)
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import rostest
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rostest.rosrun(PKG, 'arm_test', ArmTest)
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@ -1,4 +1,40 @@
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#!/usr/bin/env python
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#***************************************************************************
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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||||
# are met:
|
||||
#
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||||
# 1. Redistributions of source code must retain the above copyright
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||||
# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
|
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# used to endorse or promote products derived from this software
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||||
# without specific prior written permission.
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||||
#
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||||
# 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
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#***************************************************************************/
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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PKG = 'px4'
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import sys
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@ -22,103 +58,103 @@ from flight_path_assertion import FlightPathAssertion
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class OffboardPosctlTest(unittest.TestCase):
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
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self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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self.rate = rospy.Rate(10) # 10hz
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def setUp(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
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self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
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self.rate = rospy.Rate(10) # 10hz
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def tearDown(self):
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if (self.fpa):
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self.fpa.stop()
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def tearDown(self):
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if (self.fpa):
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self.fpa.stop()
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#
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# General callback functions used in tests
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#
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def position_callback(self, data):
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self.hasPos = True
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self.localPosition = data
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#
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# General callback functions used in tests
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#
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def position_callback(self, data):
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self.hasPos = True
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self.localPosition = data
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def vehicle_control_mode_callback(self, data):
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self.controlMode = data
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def vehicle_control_mode_callback(self, data):
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self.controlMode = data
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#
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# Helper methods
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#
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def is_at_position(self, x, y, z, offset):
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rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
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desired = np.array((x, y, z))
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pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
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return linalg.norm(desired - pos) < offset
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#
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# Helper methods
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#
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def is_at_position(self, x, y, z, offset):
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rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
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desired = np.array((x, y, z))
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pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
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return linalg.norm(desired - pos) < offset
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def reach_position(self, x, y, z, timeout):
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# set a position setpoint
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pos = position_setpoint()
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pos.valid = True
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pos.x = x
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pos.y = y
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pos.z = z
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pos.position_valid = True
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stp = position_setpoint_triplet()
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stp.current = pos
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self.pubSpt.publish(stp)
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def reach_position(self, x, y, z, timeout):
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# set a position setpoint
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pos = position_setpoint()
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pos.valid = True
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pos.x = x
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pos.y = y
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pos.z = z
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pos.position_valid = True
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stp = position_setpoint_triplet()
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stp.current = pos
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self.pubSpt.publish(stp)
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# does it reach the position in X seconds?
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count = 0
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while(count < timeout):
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if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
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break
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count = count + 1
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self.rate.sleep()
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# does it reach the position in X seconds?
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count = 0
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while(count < timeout):
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if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
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break
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count = count + 1
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self.rate.sleep()
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self.assertTrue(count < timeout, "took too long to get to position")
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self.assertTrue(count < timeout, "took too long to get to position")
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#
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# Test offboard POSCTL
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#
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def test_posctl(self):
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manIn = ManualInput()
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#
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# Test offboard POSCTL
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#
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def test_posctl(self):
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manIn = ManualInput()
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# arm and go into offboard
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manIn.arm()
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manIn.offboard()
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self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
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self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# arm and go into offboard
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manIn.arm()
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manIn.offboard()
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self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
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self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# prepare flight path assertion
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positions = (
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(0,0,0),
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(2,2,-2),
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(2,-2,-2),
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(-2,-2,-2),
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(2,2,-2))
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# prepare flight path assertion
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positions = (
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(0,0,0),
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(2,2,-2),
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(2,-2,-2),
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(-2,-2,-2),
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(2,2,-2))
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self.fpa = FlightPathAssertion(positions, 1, 0)
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self.fpa.start()
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self.fpa = FlightPathAssertion(positions, 1, 0)
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self.fpa.start()
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for i in range(0, len(positions)):
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self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
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self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
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# does it hold the position for Y seconds?
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positionHeld = True
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count = 0
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timeout = 50
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while(count < timeout):
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if(not self.is_at_position(2, 2, -2, 0.5)):
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positionHeld = False
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break
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count = count + 1
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self.rate.sleep()
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for i in range(0, len(positions)):
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self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
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self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
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# does it hold the position for Y seconds?
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positionHeld = True
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count = 0
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timeout = 50
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while(count < timeout):
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if(not self.is_at_position(2, 2, -2, 0.5)):
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positionHeld = False
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break
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count = count + 1
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self.rate.sleep()
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self.assertTrue(count == timeout, "position could not be held")
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self.fpa.stop()
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self.assertTrue(count == timeout, "position could not be held")
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self.fpa.stop()
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
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#unittest.main()
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import rostest
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rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
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#unittest.main()
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@ -1,4 +1,40 @@
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#!/usr/bin/env python
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#***************************************************************************
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
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# 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.
|
||||
#
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#***************************************************************************/
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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import sys
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import rospy
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import threading
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@ -1,4 +1,40 @@
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#!/usr/bin/env python
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#***************************************************************************
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#
|
||||
# Copyright (c) 2015 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.
|
||||
#
|
||||
#***************************************************************************/
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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import sys
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import rospy
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@ -14,97 +50,97 @@ from std_msgs.msg import Header
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#
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class ManualInput:
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def __init__(self):
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rospy.init_node('test_node', anonymous=True)
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self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10)
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self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
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def __init__(self):
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rospy.init_node('test_node', anonymous=True)
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self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10)
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self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
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def arm(self):
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rate = rospy.Rate(10) # 10hz
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def arm(self):
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rate = rospy.Rate(10) # 10hz
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att = CommandAttitudeThrust()
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att.header = Header()
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att = CommandAttitudeThrust()
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att.header = Header()
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pos = manual_control_setpoint()
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pos.x = 0
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pos.z = 0
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pos.y = 0
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pos.r = 0
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pos.mode_switch = 3
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pos.return_switch = 3
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pos.posctl_switch = 3
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pos.loiter_switch = 3
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pos.acro_switch = 0
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pos.offboard_switch = 3
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pos = manual_control_setpoint()
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pos.x = 0
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pos.z = 0
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pos.y = 0
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pos.r = 0
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pos.mode_switch = 3
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pos.return_switch = 3
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pos.posctl_switch = 3
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pos.loiter_switch = 3
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pos.acro_switch = 0
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pos.offboard_switch = 3
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count = 0
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while not rospy.is_shutdown() and count < 10:
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rospy.loginfo("zeroing")
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time = rospy.get_rostime().now()
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pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
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self.pubMcsp.publish(pos)
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# Fake input to iris commander
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self.pubAtt.publish(att)
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rate.sleep()
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||||
count = count + 1
|
||||
count = 0
|
||||
while not rospy.is_shutdown() and count < 10:
|
||||
rospy.loginfo("zeroing")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
# Fake input to iris commander
|
||||
self.pubAtt.publish(att)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
|
||||
pos.r = 1
|
||||
count = 0
|
||||
while not rospy.is_shutdown() and count < 10:
|
||||
rospy.loginfo("arming")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
pos.r = 1
|
||||
count = 0
|
||||
while not rospy.is_shutdown() and count < 10:
|
||||
rospy.loginfo("arming")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
|
||||
def posctl(self):
|
||||
rate = rospy.Rate(10) # 10hz
|
||||
def posctl(self):
|
||||
rate = rospy.Rate(10) # 10hz
|
||||
|
||||
# triggers posctl
|
||||
pos = manual_control_setpoint()
|
||||
pos.x = 0
|
||||
pos.z = 0
|
||||
pos.y = 0
|
||||
pos.r = 0
|
||||
pos.mode_switch = 2
|
||||
pos.return_switch = 3
|
||||
pos.posctl_switch = 1
|
||||
pos.loiter_switch = 3
|
||||
pos.acro_switch = 0
|
||||
pos.offboard_switch = 3
|
||||
# triggers posctl
|
||||
pos = manual_control_setpoint()
|
||||
pos.x = 0
|
||||
pos.z = 0
|
||||
pos.y = 0
|
||||
pos.r = 0
|
||||
pos.mode_switch = 2
|
||||
pos.return_switch = 3
|
||||
pos.posctl_switch = 1
|
||||
pos.loiter_switch = 3
|
||||
pos.acro_switch = 0
|
||||
pos.offboard_switch = 3
|
||||
|
||||
count = 0
|
||||
while not rospy.is_shutdown() and count < 10:
|
||||
rospy.loginfo("triggering posctl")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
count = 0
|
||||
while not rospy.is_shutdown() and count < 10:
|
||||
rospy.loginfo("triggering posctl")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
|
||||
def offboard(self):
|
||||
rate = rospy.Rate(10) # 10hz
|
||||
def offboard(self):
|
||||
rate = rospy.Rate(10) # 10hz
|
||||
|
||||
# triggers posctl
|
||||
pos = manual_control_setpoint()
|
||||
pos.x = 0
|
||||
pos.z = 0
|
||||
pos.y = 0
|
||||
pos.r = 0
|
||||
pos.mode_switch = 3
|
||||
pos.return_switch = 3
|
||||
pos.posctl_switch = 3
|
||||
pos.loiter_switch = 3
|
||||
pos.acro_switch = 0
|
||||
pos.offboard_switch = 1
|
||||
# triggers posctl
|
||||
pos = manual_control_setpoint()
|
||||
pos.x = 0
|
||||
pos.z = 0
|
||||
pos.y = 0
|
||||
pos.r = 0
|
||||
pos.mode_switch = 3
|
||||
pos.return_switch = 3
|
||||
pos.posctl_switch = 3
|
||||
pos.loiter_switch = 3
|
||||
pos.acro_switch = 0
|
||||
pos.offboard_switch = 1
|
||||
|
||||
count = 0
|
||||
while not rospy.is_shutdown() and count < 10:
|
||||
rospy.loginfo("triggering posctl")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
count = 0
|
||||
while not rospy.is_shutdown() and count < 10:
|
||||
rospy.loginfo("triggering posctl")
|
||||
time = rospy.get_rostime().now()
|
||||
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
|
||||
self.pubMcsp.publish(pos)
|
||||
rate.sleep()
|
||||
count = count + 1
|
||||
|
||||
|
|
Loading…
Reference in New Issue