diff options
Diffstat (limited to 'integrationtests/demo_tests/mavros_offboard_attctl_test.py')
-rwxr-xr-x | integrationtests/demo_tests/mavros_offboard_attctl_test.py | 65 |
1 files changed, 21 insertions, 44 deletions
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") |