- updated test names, fixed lying comments and updated notes, misc. cleanup

- added mavros attitude control test - using manual arming for mavros tests so they succeed for the moment, arming should be implemented soon
2026-07-21 22:30:35 +08:00 · 2015-03-01 23:56:05 +01:00
parent edfbde1505
commit 9252124cfc
8 changed files with 206 additions and 27 deletions
@@ -0,0 +1,87 @@
+#!/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
+
+from px4.msg import actuator_armed
+from px4.msg import vehicle_control_mode
+from manual_input import ManualInput
+
+#
+# Tests if commander reacts to manual input and sets control flags accordingly
+#
+class ManualInputTest(unittest.TestCase):
+
+    #
+    # General callback functions used in tests
+    #
+    def actuator_armed_callback(self, data):
+        self.actuatorStatus = data
+
+    def vehicle_control_mode_callback(self, data):
+        self.controlMode = data
+    
+    #
+    # Test arming
+    #
+    def test_manual_input(self):
+        rospy.init_node('test_node', anonymous=True)
+        rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
+        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+
+        man = ManualInput()
+
+        # Test arming
+        man.arm()
+        self.assertEquals(self.actuatorStatus.armed, True, "did not arm")
+
+        # Test posctl
+        man.posctl()
+        self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
+
+        # Test offboard
+        man.offboard()
+        self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
+    
+
+if __name__ == '__main__':
+    import rostest
+    rostest.rosrun(PKG, 'direct_manual_input_test', ManualInputTest)