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Tuning to integration testing for better reporting

This commit is contained in:
Lorenz Meier 2016-12-25 17:01:51 +01:00
parent fa84d104b2
commit 79fbcf8a1c
2 changed files with 22 additions and 5 deletions
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23
integrationtests/python_src/px4_it/mavros/mission_test.py
View File

@ -111,7 +111,12 @@ class MavrosMissionTest(unittest.TestCase):
self.has_global_pos = True
def extended_state_callback(self, data):
prev_state = self.extended_state.vtol_state;
self.extended_state = data
if (prev_state != self.extended_state.vtol_state):
print("VTOL state change: %d" % self.extended_state.vtol_state);
#
# Helper methods
@ -148,7 +153,7 @@ class MavrosMissionTest(unittest.TestCase):
self.last_pos_d = 9999
rospy.loginfo("trying to reach waypoint " +
"lat: %f, lon: %f, alt: %f, timeout: %d, index: %d" %
"lat: %13.9f, lon: %13.9f, alt: %6.2f, timeout: %d, index: %d" %
(lat, lon, alt, timeout, index))
# does it reach the position in X seconds?
@ -174,9 +179,20 @@ class MavrosMissionTest(unittest.TestCase):
count = count + 1
self.rate.sleep()
vtol_state_string = "VTOL undefined"
if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC):
vtol_state_string = "VTOL MC"
if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW):
vtol_state_string = "VTOL FW"
if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC):
vtol_state_string = "VTOL FW->MC"
if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
vtol_state_string = "VTOL MC->FW"
self.assertTrue(count < timeout, (("(%s) took too long to get to position " +
"lat: %f, lon: %f, alt: %f, xy off: %f, z off: %f, timeout: %d, index: %d, pos_d: %f, alt_d: %f") %
(self.mission_name, lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d)))
"lat: %13.9f, lon: %13.9f, alt: %6.2f, xy off: %f, z off: %f, timeout: %d, index: %d, pos_d: %f, alt_d: %f, VTOL state: %s") %
(self.mission_name, lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d, vtol_state_string)))
def run_mission(self):
"""switch mode: auto and arm"""
@ -283,6 +299,7 @@ class MavrosMissionTest(unittest.TestCase):
alt = waypoint.z_alt
if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
alt += self.home_alt
self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 600, index)
# check if VTOL transition happens if applicable

4
integrationtests/python_src/px4_it/mavros/vtol_new_1.txt
View File

@ -1,4 +1,4 @@
# New style transitions, takeoff not at home
QGC WPL 110
0 1 3 84 15.0 0 0 0 47.397731862593744 8.543269295853861 12.0 1
1 0 3 85 0.0 0.0 -0.0 0.0 47.3990753922183 8.5432371088360526 0.0 1
0 1 3 84 15.0 0 0 0 47.397731862593744 8.543269295853861 15.0 1
1 0 3 85 0.0 0.0 -0.0 0.0 47.39651890962795 8.5433217125134888 0.0 1