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9252124cfc
- added mavros attitude control test - using manual arming for mavros tests so they succeed for the moment, arming should be implemented soon
88 lines
3.2 KiB
Python
Executable File
88 lines
3.2 KiB
Python
Executable File
#!/usr/bin/env python
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#***************************************************************************
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#***************************************************************************/
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#
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# @author Andreas Antener <andreas@uaventure.com>
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#
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PKG = 'px4'
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import sys
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import unittest
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import rospy
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from px4.msg import actuator_armed
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from px4.msg import vehicle_control_mode
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from manual_input import ManualInput
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#
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# Tests if commander reacts to manual input and sets control flags accordingly
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#
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class ManualInputTest(unittest.TestCase):
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#
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# General callback functions used in tests
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#
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def actuator_armed_callback(self, data):
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self.actuatorStatus = data
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def vehicle_control_mode_callback(self, data):
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self.controlMode = data
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#
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# Test arming
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#
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def test_manual_input(self):
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rospy.init_node('test_node', anonymous=True)
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rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
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rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
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man = ManualInput()
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# Test arming
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man.arm()
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self.assertEquals(self.actuatorStatus.armed, True, "did not arm")
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# Test posctl
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man.posctl()
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self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
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# Test offboard
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man.offboard()
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self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
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if __name__ == '__main__':
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import rostest
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rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)
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