1 files changed, 37 insertions, 0 deletions
diff --git a/integrationtests/demo_tests/direct_arm_test.py b/integrationtests/demo_tests/direct_arm_test.py
new file mode 100755
index 000000000..569e0af7c
--- /dev/null
+++ b/integrationtests/demo_tests/direct_arm_test.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+PKG = 'px4'
+
+import sys
+import unittest
+import rospy
+
+from px4.msg import actuator_armed
+from manual_input import ManualInput
+
+class ArmTest(unittest.TestCase):
+
+	#
+	# General callback functions used in tests
+	#
+	def actuator_armed_callback(self, data):
+		self.actuatorStatus = data
+	
+	#
+	# Test arming
+	#
+	def test_arm(self):
+		rospy.init_node('test_node', anonymous=True)
+		sub = rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
+
+		# method to test
+		arm = ManualInput()
+		arm.arm()
+
+		self.assertEquals(self.actuatorStatus.armed, True, "not armed")
+
+
+	
+
+if __name__ == '__main__':
+	import rostest
+	rostest.rosrun(PKG, 'arm_test', ArmTest)