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author | Andreas Antener <antener_a@gmx.ch> | 2015-03-15 16:39:35 +0100 |
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committer | Andreas Antener <antener_a@gmx.ch> | 2015-03-15 16:39:35 +0100 |
commit | 1d5beb1edf63fef52a8c68993bcfe80b51a1aba8 (patch) | |
tree | 7e2a8dd2e48f5fe48ee744aef14fe9e5345d4a94 /integrationtests | |
parent | 15a5c0a9bebf113ddcb6f1b95a8672fa882dcdcc (diff) | |
download | px4-firmware-1d5beb1edf63fef52a8c68993bcfe80b51a1aba8.tar.gz px4-firmware-1d5beb1edf63fef52a8c68993bcfe80b51a1aba8.tar.bz2 px4-firmware-1d5beb1edf63fef52a8c68993bcfe80b51a1aba8.zip |
- updated flight path assertion position subscription and added check if it does not get a position after 1 sec
- modified test so it works iwth new _Z_P parameter
Diffstat (limited to 'integrationtests')
-rwxr-xr-x | integrationtests/demo_tests/direct_offboard_posctl_test.py | 1 | ||||
-rw-r--r-- | integrationtests/demo_tests/flight_path_assertion.py | 12 |
2 files changed, 10 insertions, 3 deletions
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py index 225760d6c..d61eec063 100755 --- a/integrationtests/demo_tests/direct_offboard_posctl_test.py +++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py @@ -132,6 +132,7 @@ class DirectOffboardPosctlTest(unittest.TestCase): # prepare flight path positions = ( (0, 0, 0), + (0, 0, -2), (2, 2, -2), (2, -2, -2), (-2, -2, -2), diff --git a/integrationtests/demo_tests/flight_path_assertion.py b/integrationtests/demo_tests/flight_path_assertion.py index ccadd1ab9..244324cd0 100644 --- a/integrationtests/demo_tests/flight_path_assertion.py +++ b/integrationtests/demo_tests/flight_path_assertion.py @@ -62,7 +62,7 @@ class FlightPathAssertion(threading.Thread): # 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) + 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) @@ -103,7 +103,7 @@ class FlightPathAssertion(threading.Thread): "</visual>" + "</link>" + "</model>" + - "</sdf>" % self.tunnel_radius) + "</sdf>") % self.tunnel_radius self.spawn_model("indicator", xml, "", Pose(), "") @@ -147,7 +147,7 @@ class FlightPathAssertion(threading.Thread): self.spawn_indicator() current = 0 - + count = 0 while not self.should_stop: if self.has_pos: # calculate distance to line segment between first two points @@ -189,3 +189,9 @@ class FlightPathAssertion(threading.Thread): 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 |