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| author | Andreas Antener <antener_a@gmx.ch> | 2015-02-23 21:45:01 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 18:25:36 +0100 |
| commit | 952f91738ea0704fe5dbbb1598a17ca53f3a70a0 (patch) | |
| tree | 5009242d88def69dd08a6ea4260c43b357542902 /integrationtests/demo_tests/direct_offboard_posctl_test.py | |
| parent | 85ac3e3515bc214a770074182617208b24ee0209 (diff) | |
| download | px4-firmware-952f91738ea0704fe5dbbb1598a17ca53f3a70a0.tar.gz px4-firmware-952f91738ea0704fe5dbbb1598a17ca53f3a70a0.tar.bz2 px4-firmware-952f91738ea0704fe5dbbb1598a17ca53f3a70a0.zip | |
update flight path assertion and error handling
Diffstat (limited to 'integrationtests/demo_tests/direct_offboard_posctl_test.py')
| -rwxr-xr-x | integrationtests/demo_tests/direct_offboard_posctl_test.py | 35 |
1 files changed, 19 insertions, 16 deletions
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py index af8d4b821..6b28e0a18 100755 --- a/integrationtests/demo_tests/direct_offboard_posctl_test.py +++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py @@ -29,6 +29,10 @@ class OffboardPosctlTest(unittest.TestCase): self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10) self.rate = rospy.Rate(10) # 10hz + def tearDown(self): + if (self.fpa): + self.fpa.stop() + # # General callback functions used in tests # @@ -83,22 +87,21 @@ class OffboardPosctlTest(unittest.TestCase): 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") - + # prepare flight path assertion - fpa = FlightPathAssertion( - ( - (0,0,0), - (2,2,-2), - (2,-2,-2), - (-2,-2,-2), - (2,2,-2), - ), 0.5, 0) - fpa.start() - - self.reach_position(2, 2, -2, 120) - self.reach_position(2, -2, -2, 120) - self.reach_position(-2, -2, -2, 120) - self.reach_position(2, 2, -2, 120) + positions = ( + (0,0,0), + (2,2,-2), + (2,-2,-2), + (-2,-2,-2), + (2,2,-2)) + + self.fpa = FlightPathAssertion(positions, 1, 0) + self.fpa.start() + + for i in range(0, len(positions)): + self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120) + self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i) # does it hold the position for Y seconds? positionHeld = True @@ -112,7 +115,7 @@ class OffboardPosctlTest(unittest.TestCase): self.rate.sleep() self.assertTrue(count == timeout, "position could not be held") - fpa.stop() + self.fpa.stop() if __name__ == '__main__': |