Merge pull request #1922 from UAVenture/sitl_test_updates

SITL test updates (cleanup)

9 files changed, 169 insertions, 186 deletions

diff --git a/integrationtests/demo_tests/direct_manual_input_test.py b/integrationtests/demo_tests/direct_manual_input_test.py
index b037d842f..394500e94 100755
--- a/integrationtests/demo_tests/direct_manual_input_test.py
+++ b/integrationtests/demo_tests/direct_manual_input_test.py
@@ -37,7 +37,6 @@
 #
 PKG = 'px4'
 
-import sys
 import unittest
 import rospy
 
@@ -50,14 +49,18 @@ from manual_input import ManualInput
 #
 class ManualInputTest(unittest.TestCase):
 
+    def setUp(self):
+        self.actuator_status = actuator_armed()
+        self.control_mode = vehicle_control_mode()
+
     #
     # General callback functions used in tests
     #
     def actuator_armed_callback(self, data):
-        self.actuatorStatus = data
+        self.actuator_status = data
 
     def vehicle_control_mode_callback(self, data):
-        self.controlMode = data
+        self.control_mode = data
     
     #
     # Test arming
@@ -67,19 +70,19 @@ class ManualInputTest(unittest.TestCase):
         rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
         rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
 
-        man = ManualInput()
+        man_in = ManualInput()
 
         # Test arming
-        man.arm()
-        self.assertEquals(self.actuatorStatus.armed, True, "did not arm")
+        man_in.arm()
+        self.assertEquals(self.actuator_status.armed, True, "did not arm")
 
         # Test posctl
-        man.posctl()
-        self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
+        man_in.posctl()
+        self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
 
         # Test offboard
-        man.offboard()
-        self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
+        man_in.offboard()
+        self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
     
 
 if __name__ == '__main__':
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py
index 18239e926..d61eec063 100755
--- a/integrationtests/demo_tests/direct_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py
@@ -37,7 +37,6 @@
 #
 PKG = 'px4'
 
-import sys
 import unittest
 import rospy
 
@@ -46,11 +45,8 @@ import numpy as np
 
 from px4.msg import vehicle_local_position
 from px4.msg import vehicle_control_mode
-from px4.msg import actuator_armed
 from px4.msg import position_setpoint_triplet
 from px4.msg import position_setpoint
-from sensor_msgs.msg import Joy
-from std_msgs.msg import Header
 
 from manual_input import ManualInput
 from flight_path_assertion import FlightPathAssertion
@@ -68,31 +64,34 @@ class DirectOffboardPosctlTest(unittest.TestCase):
         rospy.init_node('test_node', anonymous=True)
         rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
         rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
-        self.pubSpt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
+        self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
+        self.has_pos = False
+        self.local_position = vehicle_local_position()
+        self.control_mode = vehicle_control_mode()
 
     def tearDown(self):
-        if (self.fpa):
+        if self.fpa:
             self.fpa.stop()
 
     #
     # General callback functions used in tests
     #
     def position_callback(self, data):
-        self.hasPos = True
-        self.localPosition = data
+        self.has_pos = True
+        self.local_position = data
 
     def vehicle_control_mode_callback(self, data):
-        self.controlMode = data
+        self.control_mode = data
 
 
     #
     # Helper methods
     #
     def is_at_position(self, x, y, z, offset):
-        rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
+        rospy.logdebug("current position %f, %f, %f" % (self.local_position.x, self.local_position.y, self.local_position.z))
         desired = np.array((x, y, z))
-        pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
+        pos = np.array((self.local_position.x, self.local_position.y, self.local_position.z))
         return linalg.norm(desired - pos) < offset
 
     def reach_position(self, x, y, z, timeout):
@@ -105,12 +104,12 @@ class DirectOffboardPosctlTest(unittest.TestCase):
         pos.position_valid = True
         stp = position_setpoint_triplet()
         stp.current = pos
-        self.pubSpt.publish(stp)
+        self.pub_spt.publish(stp)
 
         # does it reach the position in X seconds?
         count = 0
-        while(count < timeout):
-            if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
+        while count < timeout:
+            if self.is_at_position(pos.x, pos.y, pos.z, 0.5):
                 break
             count = count + 1
             self.rate.sleep()
@@ -121,22 +120,23 @@ class DirectOffboardPosctlTest(unittest.TestCase):
     # Test offboard position control
     #
     def test_posctl(self):
-        manIn = ManualInput()
+        man_in = ManualInput()
 
         # arm and go into offboard
-        manIn.arm()
-        manIn.offboard()
-        self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
-        self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
-        self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
+        man_in.arm()
+        man_in.offboard()
+        self.assertTrue(self.control_mode.flag_armed, "flag_armed is not set")
+        self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
+        self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
 
         # prepare flight path
         positions = (
-            (0,0,0),
-            (2,2,-2),
-            (2,-2,-2),
-            (-2,-2,-2),
-            (2,2,-2))
+            (0, 0, 0),
+            (0, 0, -2),
+            (2, 2, -2),
+            (2, -2, -2),
+            (-2, -2, -2),
+            (2, 2, -2))
 
         # flight path assertion
         self.fpa = FlightPathAssertion(positions, 1, 0)
@@ -147,12 +147,10 @@ class DirectOffboardPosctlTest(unittest.TestCase):
             self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
         
         # does it hold the position for Y seconds?
-        positionHeld = True
         count = 0
         timeout = 50
-        while(count < timeout):
-            if(not self.is_at_position(2, 2, -2, 0.5)):
-                positionHeld = False
+        while count < timeout:
+            if not self.is_at_position(2, 2, -2, 0.5):
                 break
             count = count + 1
             self.rate.sleep()
diff --git a/integrationtests/demo_tests/direct_tests.launch b/integrationtests/demo_tests/direct_tests.launch
index 1a7d843fd..f332332cf 100644
--- a/integrationtests/demo_tests/direct_tests.launch
+++ b/integrationtests/demo_tests/direct_tests.launch
@@ -2,7 +2,7 @@
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
     <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
     <arg name="log_file" default="iris"/>
 
     <include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
diff --git a/integrationtests/demo_tests/flight_path_assertion.py b/integrationtests/demo_tests/flight_path_assertion.py
index 485de8c41..244324cd0 100644
--- a/integrationtests/demo_tests/flight_path_assertion.py
+++ b/integrationtests/demo_tests/flight_path_assertion.py
@@ -35,7 +35,6 @@
 #
 # @author Andreas Antener <andreas@uaventure.com>
 #
-import sys
 import rospy
 import threading
 
@@ -48,7 +47,6 @@ from geometry_msgs.msg import Twist
 
 from numpy import linalg
 import numpy as np
-import math
 
 #
 # Helper to test if vehicle stays on expected flight path.
@@ -62,30 +60,52 @@ class FlightPathAssertion(threading.Thread):
     # TODO: yaw validation
     # TODO: fail main test thread
     #
-    def __init__(self, positions, tunnelRadius = 1, yawOffset = 0.2):
+    def __init__(self, positions, tunnelRadius=1, yaw_offset=0.2):
         threading.Thread.__init__(self)
-        rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
-        self.spawnModel = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
-        self.setModelState = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
-        self.deleteModel = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
+        rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
+        self.spawn_model = rospy.ServiceProxy('gazebo/spawn_sdf_model', SpawnModel)
+        self.set_model_state = rospy.ServiceProxy('gazebo/set_model_state', SetModelState)
+        self.delete_model = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
 
         self.positions = positions
-        self.tunnelRadius = tunnelRadius
-        self.yawOffset = yawOffset
-        self.hasPos = False
-        self.shouldStop = False
+        self.tunnel_radius = tunnelRadius
+        self.yaw_offset = yaw_offset
+        self.has_pos = False
+        self.should_stop = False
         self.center = positions[0]
-        self.endOfSegment = False
+        self.end_of_segment = False
         self.failed = False
+        self.local_position = vehicle_local_position
 
     def position_callback(self, data):
-        self.hasPos = True
-        self.localPosition = data
+        self.has_pos = True
+        self.local_position = data
 
     def spawn_indicator(self):
-        self.deleteModel("indicator")
-        xml = "<?xml version='1.0'?><sdf version='1.4'><model name='indicator'><static>true</static><link name='link'><visual name='visual'><transparency>0.7</transparency><geometry><sphere><radius>%f</radius></sphere></geometry><material><ambient>1 0 0 0.5</ambient><diffuse>1 0 0 0.5</diffuse></material></visual></link></model></sdf>" % self.tunnelRadius
-        self.spawnModel("indicator", xml, "", Pose(), "")
+        self.delete_model("indicator")
+        xml = (
+            "<?xml version='1.0'?>" +
+            "<sdf version='1.4'>" +
+                "<model name='indicator'>" +
+                    "<static>true</static>" +
+                    "<link name='link'>" +
+                        "<visual name='visual'>" +
+                            "<transparency>0.7</transparency>" +
+                            "<geometry>" +
+                                "<sphere>" +
+                                    "<radius>%f</radius>" +
+                                "</sphere>" +
+                            "</geometry>" +
+                            "<material>" +
+                                "<ambient>1 0 0 0.5</ambient>" +
+                                "<diffuse>1 0 0 0.5</diffuse>" +
+                            "</material>" +
+                        "</visual>" +
+                    "</link>" +
+                "</model>" +
+            "</sdf>") % self.tunnel_radius
+
+        self.spawn_model("indicator", xml, "", Pose(), "")
 
     def position_indicator(self):
         state = SetModelState()
@@ -97,7 +117,7 @@ class FlightPathAssertion(threading.Thread):
         state.pose = pose
         state.twist = Twist()
         state.reference_frame = ""
-        self.setModelState(state)
+        self.set_model_state(state)
 
     def distance_to_line(self, a, b, pos):
         v = b - a
@@ -111,7 +131,7 @@ class FlightPathAssertion(threading.Thread):
         c2 = np.dot(v, v)
         if c2 <= c1: # after b
             self.center = b
-            self.endOfSegment = True
+            self.end_of_segment = True
             return linalg.norm(pos - b)
 
         x = c1 / c2
@@ -120,52 +140,58 @@ class FlightPathAssertion(threading.Thread):
         return linalg.norm(pos - l)
     
     def stop(self):
-        self.shouldStop = True
+        self.should_stop = True
 
     def run(self):
         rate = rospy.Rate(10) # 10hz
         self.spawn_indicator()
 
         current = 0
-
-        while not self.shouldStop:
-            if (self.hasPos):
+        count = 0
+        while not self.should_stop:
+            if self.has_pos:
                 # calculate distance to line segment between first two points
-                # if distances > tunnelRadius
+                # if distances > tunnel_radius
                 #   exit with error
-                # advance current pos if not on the line anymore or distance to next point < tunnelRadius
+                # advance current pos if not on the line anymore or distance to next point < tunnel_radius
                 # exit if current pos is now the last position
 
                 self.position_indicator()
 
-                pos = np.array((self.localPosition.x,
-                    self.localPosition.y, 
-                    self.localPosition.z))
-                aPos = np.array((self.positions[current][0],
-                    self.positions[current][1], 
-                    self.positions[current][2]))
-                bPos = np.array((self.positions[current + 1][0],
-                    self.positions[current + 1][1], 
-                    self.positions[current + 1][2]))
+                pos = np.array((self.local_position.x,
+                                self.local_position.y,
+                                self.local_position.z))
+                a_pos = np.array((self.positions[current][0],
+                                self.positions[current][1],
+                                self.positions[current][2]))
+                b_pos = np.array((self.positions[current + 1][0],
+                                self.positions[current + 1][1],
+                                self.positions[current + 1][2]))
 
-                dist = self.distance_to_line(aPos, bPos, pos)
-                bDist = linalg.norm(pos - bPos)
+                dist = self.distance_to_line(a_pos, b_pos, pos)
+                b_dist = linalg.norm(pos - b_pos)
 
-                rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, bDist))
+                rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, b_dist))
 
-                if (dist > self.tunnelRadius):
-                    msg = "left tunnel at position (%f, %f, %f)" % (self.localPosition.x, self.localPosition.y, self.localPosition.z)
+                if dist > self.tunnel_radius:
+                    msg = "left tunnel at position (%f, %f, %f)" % (self.local_position.x, self.local_position.y, self.local_position.z)
                     rospy.logerr(msg)
                     self.failed = True
                     break
 
-                if (self.endOfSegment or bDist < self.tunnelRadius):
+                if self.end_of_segment or b_dist < self.tunnel_radius:
                     rospy.loginfo("next segment")
-                    self.endOfSegment = False
+                    self.end_of_segment = False
                     current = current + 1
 
-                if (current == len(self.positions) - 1):
+                if current == len(self.positions) - 1:
                     rospy.loginfo("no more positions")
                     break
 
             rate.sleep()
+            count = count + 1
+
+            if count > 10 and not self.has_pos: # no position after 1 sec
+                rospy.logerr("no position")
+                self.failed = True
+                break
diff --git a/integrationtests/demo_tests/manual_input.py b/integrationtests/demo_tests/manual_input.py
index 7072464de..167221285 100755
--- a/integrationtests/demo_tests/manual_input.py
+++ b/integrationtests/demo_tests/manual_input.py
@@ -35,7 +35,6 @@
 #
 # @author Andreas Antener <andreas@uaventure.com>
 #
-import sys
 import rospy
 
 from px4.msg import manual_control_setpoint
@@ -46,17 +45,12 @@ from std_msgs.msg import Header
 #
 # Manual input control helper
 #
-# FIXME: this is not the way to do it! ATM it fakes input to iris/command/attitude because else
-# the simulator does not instantiate our controller. Probably this whole class will disappear once
-# arming works correctly.
-#
-class ManualInput:
+class ManualInput(object):
 
     def __init__(self):
         rospy.init_node('test_node', anonymous=True)
-        self.pubMcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
-        self.pubOff = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
-        self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
+        self.pub_mcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
+        self.pub_off = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
 
     def arm(self):
         rate = rospy.Rate(10) # 10hz
@@ -81,9 +75,7 @@ class ManualInput:
             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)
+            self.pub_mcsp.publish(pos)
             rate.sleep()
             count = count + 1
 
@@ -93,7 +85,7 @@ class ManualInput:
             rospy.loginfo("arming")
             time = rospy.get_rostime().now()
             pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pubMcsp.publish(pos)
+            self.pub_mcsp.publish(pos)
             rate.sleep()
             count = count + 1
 
@@ -118,7 +110,7 @@ class ManualInput:
             rospy.loginfo("triggering posctl")
             time = rospy.get_rostime().now()
             pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pubMcsp.publish(pos)
+            self.pub_mcsp.publish(pos)
             rate.sleep()
             count = count + 1
 
@@ -147,7 +139,7 @@ class ManualInput:
             rospy.loginfo("setting offboard mode")
             time = rospy.get_rostime().now()
             mode.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pubOff.publish(mode)
+            self.pub_off.publish(mode)
             rate.sleep()
             count = count + 1
 
@@ -169,7 +161,7 @@ class ManualInput:
             rospy.loginfo("triggering offboard")
             time = rospy.get_rostime().now()
             pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pubMcsp.publish(pos)
+            self.pub_mcsp.publish(pos)
             rate.sleep()
             count = count + 1
 
diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
index 92cdf1e0a..30e9fe9ba 100755
--- a/integrationtests/demo_tests/mavros_offboard_attctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
@@ -37,29 +37,20 @@
 #
 PKG = 'px4'
 
-import sys
 import unittest
 import rospy
-import math
-
-from numpy import linalg
-import numpy as np
 
 from px4.msg import vehicle_control_mode
 from std_msgs.msg import Header
 from std_msgs.msg import Float64
 from geometry_msgs.msg import PoseStamped, Quaternion
 from tf.transformations import quaternion_from_euler
-from mavros.srv import CommandBool
-
-from manual_input import ManualInput
 
 #
-# Tests flying a path in offboard control by sending position setpoints
+# Tests flying a path in offboard control by sending attitude and thrust setpoints
 # over MAVROS.
 #
-# For the test to be successful it needs to reach all setpoints in a certain time.
-# FIXME: add flight path assertion (needs transformation from ROS frame to NED)
+# For the test to be successful it needs to cross a certain boundary in time.
 #
 class MavrosOffboardAttctlTest(unittest.TestCase):
 
@@ -68,45 +59,27 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
         rospy.wait_for_service('iris/mavros/cmd/arming', 30)
         rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
         rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
-        self.pubAtt = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
-        self.pubThr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
-        self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
+        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.rateSec = rospy.Rate(1)
-        self.hasPos = False
-        self.controlMode = vehicle_control_mode()
+        self.has_pos = False
+        self.control_mode = vehicle_control_mode()
+        self.local_position = PoseStamped()
 
     #
     # General callback functions used in tests
     #
     def position_callback(self, data):
-        self.hasPos = True
-        self.localPosition = data
+        self.has_pos = True
+        self.local_position = data
 
     def vehicle_control_mode_callback(self, data):
-        self.controlMode = data
-
-
-    #
-    # Helper methods
-    #
-    def arm(self):
-        return self.cmdArm(value=True)
+        self.control_mode = data
 
     #
     # Test offboard position control
     #
     def test_attctl(self):
-        # FIXME: this must go ASAP when arming is implemented
-        manIn = ManualInput()
-        manIn.arm()
-        manIn.offboard_attctl()
-
-        self.assertTrue(self.arm(), "Could not arm")
-        self.rateSec.sleep()
-        self.rateSec.sleep()
-        self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
-
         # set some attitude and thrust
         att = PoseStamped()
         att.header = Header()
@@ -121,19 +94,23 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
         # does it cross expected boundaries in X seconds?
         count = 0
         timeout = 120
-        while(count < timeout):
+        while count < timeout:
             # update timestamp for each published SP
             att.header.stamp = rospy.Time.now()
-            self.pubAtt.publish(att)
-            self.pubThr.publish(throttle)
 
-            if (self.localPosition.pose.position.x > 5
-                and self.localPosition.pose.position.z > 5
-                and self.localPosition.pose.position.y < -5):
+            self.pub_att.publish(att)
+            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")
+        self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
         self.assertTrue(count < timeout, "took too long to cross boundaries")
 
 
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
index 6d26015e7..568c2cbd8 100755
--- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
@@ -37,7 +37,6 @@
 #
 PKG = 'px4'
 
-import sys
 import unittest
 import rospy
 import math
@@ -49,9 +48,6 @@ from px4.msg import vehicle_control_mode
 from std_msgs.msg import Header
 from geometry_msgs.msg import PoseStamped, Quaternion
 from tf.transformations import quaternion_from_euler
-from mavros.srv import CommandBool
-
-from manual_input import ManualInput
 
 #
 # Tests flying a path in offboard control by sending position setpoints
@@ -64,37 +60,41 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('iris/mavros/cmd/arming', 30)
         rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
         rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
-        self.pubSpt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
-        self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
+        self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
-        self.rateSec = rospy.Rate(1)
-        self.hasPos = False
-        self.controlMode = vehicle_control_mode()
+        self.has_pos = False
+        self.local_position = PoseStamped()
+        self.control_mode = vehicle_control_mode()
 
     #
     # General callback functions used in tests
     #
     def position_callback(self, data):
-        self.hasPos = True
-        self.localPosition = data
+        self.has_pos = True
+        self.local_position = data
 
     def vehicle_control_mode_callback(self, data):
-        self.controlMode = data
+        self.control_mode = data
 
 
     #
     # Helper methods
     #
     def is_at_position(self, x, y, z, offset):
-        if(not self.hasPos):
+        if not self.has_pos:
             return False
 
-        rospy.logdebug("current position %f, %f, %f" % (self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
+        rospy.logdebug("current position %f, %f, %f" %
+                        (self.local_position.pose.position.x,
+                        self.local_position.pose.position.y,
+                        self.local_position.pose.position.z))
+
         desired = np.array((x, y, z))
-        pos = np.array((self.localPosition.pose.position.x, self.localPosition.pose.position.y, self.localPosition.pose.position.z))
+        pos = np.array((self.local_position.pose.position.x,
+                        self.local_position.pose.position.y,
+                        self.local_position.pose.position.z))
         return linalg.norm(desired - pos) < offset
 
     def reach_position(self, x, y, z, timeout):
@@ -114,57 +114,44 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
         # does it reach the position in X seconds?
         count = 0
-        while(count < timeout):
+        while count < timeout:
             # update timestamp for each published SP
             pos.header.stamp = rospy.Time.now()
-            self.pubSpt.publish(pos)
+            self.pub_spt.publish(pos)
 
-            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, 0.5):
                 break
             count = count + 1
             self.rate.sleep()
 
         self.assertTrue(count < timeout, "took too long to get to position")
 
-    def arm(self):
-        return self.cmdArm(value=True)
-
     #
     # Test offboard position control
     #
     def test_posctl(self):
-        # FIXME: this must go ASAP when arming is implemented
-        manIn = ManualInput()
-        manIn.arm()
-        manIn.offboard_posctl()
-
-        self.assertTrue(self.arm(), "Could not arm")
-        self.rateSec.sleep()
-        self.rateSec.sleep()
-        self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
-
         # prepare flight path
         positions = (
-            (0,0,0),
-            (2,2,2),
-            (2,-2,2),
-            (-2,-2,2),
-            (2,2,2))
+            (0, 0, 0),
+            (2, 2, 2),
+            (2, -2, 2),
+            (-2, -2, 2),
+            (2, 2, 2))
 
         for i in range(0, len(positions)):
             self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
 
-        # does it hold the position for Y seconds?
-        positionHeld = True
         count = 0
         timeout = 50
-        while(count < timeout):
-            if(not self.is_at_position(2, 2, 2, 0.5)):
-                positionHeld = False
+        while count < timeout:
+            if not self.is_at_position(2, 2, 2, 0.5):
                 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_position_enabled, "flag_control_position_enabled is not set")
+        self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
         self.assertTrue(count == timeout, "position could not be held")
 
 
diff --git a/integrationtests/demo_tests/mavros_tests.launch b/integrationtests/demo_tests/mavros_tests.launch
index e42db6043..cc4918307 100644
--- a/integrationtests/demo_tests/mavros_tests.launch
+++ b/integrationtests/demo_tests/mavros_tests.launch
@@ -2,7 +2,7 @@
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
     <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
     <arg name="ns" default="iris"/>
     <arg name="log_file" default="$(arg ns)"/>
 
diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index 122a27867..7243e7476 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -3,7 +3,7 @@
     <arg name="headless" default="false"/>
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
     <arg name="ns" default="ardrone"/>
     <arg name="log_file" default="$(arg ns)"/>