1 files changed, 142 insertions, 0 deletions
diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
new file mode 100755
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+++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
@@ -0,0 +1,142 @@
+#!/usr/bin/env python
+#***************************************************************************
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#***************************************************************************/
+
+#
+# @author Andreas Antener <andreas@uaventure.com>
+#
+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
+# 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)
+#
+class MavrosOffboardAttctlTest(unittest.TestCase):
+
+    def setUp(self):
+        rospy.init_node('test_node', anonymous=True)
+        rospy.wait_for_service('mavros/cmd/arming', 30)
+        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
+        self.pubAtt = rospy.Publisher('mavros/setpoint/attitude', PoseStamped, queue_size=10)
+        self.pubThr = rospy.Publisher('mavros/setpoint/att_throttle', Float64, queue_size=10)
+        self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
+        self.rate = rospy.Rate(10) # 10hz
+        self.rateSec = rospy.Rate(1)
+        self.hasPos = False
+        self.controlMode = vehicle_control_mode()
+
+    #
+    # General callback functions used in tests
+    #
+    def position_callback(self, data):
+        self.hasPos = True
+        self.localPosition = data
+
+    def vehicle_control_mode_callback(self, data):
+        self.controlMode = data
+
+
+    #
+    # Helper methods
+    #
+    def arm(self):
+        return self.cmdArm(value=True)
+
+    #
+    # Test offboard position control
+    #
+    def test_attctl(self):
+        # FIXME: this must go ASAP when arming is implemented
+        manIn = ManualInput()
+        manIn.arm()
+
+        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() 
+        att.header.frame_id = "base_footprint"
+        att.header.stamp = rospy.Time.now()
+        quaternion = quaternion_from_euler(0.2, 0.2, 0)
+        att.pose.orientation = Quaternion(*quaternion)
+
+        throttle = Float64()
+        throttle.data = 0.6
+
+        # does it cross expected boundaries in X seconds?
+        count = 0
+        timeout = 120
+        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):
+                break
+            count = count + 1
+            self.rate.sleep()
+
+        self.assertTrue(count < timeout, "took too long to cross boundaries")
+    
+
+if __name__ == '__main__':
+    import rostest
+    rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest)
+    #unittest.main()