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px4-firmware
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trying to fix timing issue

This commit is contained in:
Andreas Antener 2015-03-13 20:36:45 +01:00
parent 3e02ab3cd7
commit 8ada8dc648
1 changed files with 3 additions and 2 deletions
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5
integrationtests/demo_tests/mavros_offboard_attctl_test.py
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@ -70,7 +70,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
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.rate = rospy.Rate(20) # 10hz
self.has_pos = False
self.control_mode = vehicle_control_mode()
self.local_position = PoseStamped()
@ -107,14 +107,15 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
# update timestamp for each published SP
att.header.stamp = rospy.Time.now()
self.pub_att.publish(att)
self.rate.sleep()
self.pub_thr.publish(throttle)
self.rate.sleep()
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")