- updated position control test

- added flight path assertion helper

1 files changed, 54 insertions, 29 deletions

diff --git a/integrationtests/demo_tests/offboard_posctl_test.py b/integrationtests/demo_tests/offboard_posctl_test.py
index 0d5608245..af8d4b821 100755
--- a/integrationtests/demo_tests/offboard_posctl_test.py
+++ b/integrationtests/demo_tests/offboard_posctl_test.py
@@ -5,6 +5,9 @@ import sys
 import unittest
 import rospy
 
+from numpy import linalg
+import numpy as np
+
 from px4.msg import vehicle_local_position
 from px4.msg import vehicle_control_mode
 from px4.msg import actuator_armed
@@ -14,10 +17,18 @@ from sensor_msgs.msg import Joy
 from std_msgs.msg import Header
 
 from manual_input import ManualInput
+from flight_path_assertion import FlightPathAssertion
 
 
 class OffboardPosctlTest(unittest.TestCase):
 
+	def setUp(self):
+		rospy.init_node('test_node', anonymous=True)
+		rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+		rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
+		self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
+		self.rate = rospy.Rate(10) # 10hz
+
 	#
 	# General callback functions used in tests
 	#
@@ -33,64 +44,78 @@ class OffboardPosctlTest(unittest.TestCase):
 	# Helper methods
 	#
 	def is_at_position(self, x, y, z, offset):
-		rospy.loginfo("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
-		return self.localPosition.z > (z - offset) and self.localPosition.z < (z + offset)
-
-	#
-	# Test offboard POSCTL
-	#
-	def test_posctl(self):
-		rospy.init_node('test_node', anonymous=True)
-		rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-		rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
-		pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
-		rate = rospy.Rate(10) # 10hz
+		rospy.logdebug("current position %f, %f, %f" % (self.localPosition.x, self.localPosition.y, self.localPosition.z))
+		desired = np.array((x, y, z))
+		pos = np.array((self.localPosition.x, self.localPosition.y, self.localPosition.z))
+		return linalg.norm(desired - pos) < offset
 
-		manIn = 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")
-	
+	def reach_position(self, x, y, z, timeout):
 		# set a position setpoint
 		pos = position_setpoint()
 		pos.valid = True
-		pos.x = 2
-		pos.z = -2
-		pos.y = 2
+		pos.x = x
+		pos.y = y
+		pos.z = z
 		pos.position_valid = True
 		stp = position_setpoint_triplet()
 		stp.current = pos
-		pubSpt.publish(stp)
+		self.pubSpt.publish(stp)
 
 		# does it reach the position in X seconds?
 		count = 0
-		timeout = 120
 		while(count < timeout):
 			if(self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
 				break
 			count = count + 1
-			rate.sleep()
+			self.rate.sleep()
 
 		self.assertTrue(count < timeout, "took too long to get to position")
+
+	#
+	# Test offboard POSCTL
+	#
+	def test_posctl(self):
+		manIn = 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")
+	
+		# 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)
 		
 		# does it hold the position for Y seconds?
 		positionHeld = True
 		count = 0
 		timeout = 50
 		while(count < timeout):
-			if(not self.is_at_position(pos.x, pos.y, pos.z, 0.5)):
+			if(not self.is_at_position(2, 2, -2, 0.5)):
 				positionHeld = False
 				break
 			count = count + 1
-			rate.sleep()
+			self.rate.sleep()
 
 		self.assertTrue(count == timeout, "position could not be held")
+		fpa.stop()
 	
 
 if __name__ == '__main__':
 	import rostest
 	rostest.rosrun(PKG, 'posctl_test', OffboardPosctlTest)
+	#unittest.main()