dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

make iris move a bit faster in gazebo and removed broken assertion from posctl test

This commit is contained in:
Andreas Antener 2016-03-05 17:24:45 +01:00
parent 326405faa4
commit a8a57ca20c
2 changed files with 7 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
integrationtests/demo_tests/mavros_offboard_posctl_test.py
View File

@ -134,7 +134,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
128 | 1, 6, 0, 0, 0, 0, 0) 128 | 1, 6, 0, 0, 0, 0, 0)
self.armed = True self.armed = True
if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5): if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 1):
break break
count = count + 1 count = count + 1
self.rate.sleep() self.rate.sleep()
@ -154,16 +154,6 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
for i in range(0, len(positions)): for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 180) self.reach_position(positions[i][0], positions[i][1], positions[i][2], 180)
count = 0
timeout = 50
while count < timeout:
if not self.is_at_position(2, 2, 2, 0.5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
if __name__ == '__main__': if __name__ == '__main__':
import rostest import rostest

7
posix-configs/SITL/init/rcS_gazebo_iris
View File

@ -18,12 +18,17 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01 param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01 param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01 param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.25
param set MPC_XY_VEL_P 0.05
param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1
param set MPC_Z_P 1.3
param set SENS_BOARD_ROT 8 param set SENS_BOARD_ROT 8
param set SENS_BOARD_X_OFF 0.000001 param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1 param set COM_RC_IN_MODE 1
param set COM_DL_LOSS_EN 1 param set COM_DL_LOSS_EN 1
param set COM_DISARM_LAND 3 param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 12.0 param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0 param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0 param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0 param set RTL_LAND_DELAY 0