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simplify vtol transition check, more log msgs

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This commit is contained in:
Anthony Lamping
2018-01-02 01:35:57 +01:00
committed by Lorenz Meier
parent f9e7c66718
commit ab5a268ca5
3 changed files with 19 additions and 26 deletions
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integrationtests/python_src/px4_it/mavros/mission_test.py
+4 -17
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@@ -346,7 +346,7 @@ class MavrosMissionTest(unittest.TestCase):
if self.is_at_position(lat, lon, alt, xy_radius, z_radius):
reached = True
rospy.loginfo(
"position reached | pos_d: {0}, alt_d: {1}, index: {2} | seconds: {3} of {4}".
"position reached | pos_d: {0:.2f}, alt_d: {1:.2f}, index: {2} | seconds: {3} of {4}".
format(self.last_pos_d, self.last_alt_d, index, i /
loop_freq, timeout))
break
@@ -354,7 +354,7 @@ class MavrosMissionTest(unittest.TestCase):
rate.sleep()
self.assertTrue(reached, (
"({0}) took too long to get to position | lat: {1:13.9f}, lon: {2:13.9f}, alt: {3:6.2f}, xy off: {4}, z off: {5}, pos_d: {6}, alt_d: {7}, VTOL state: {8}, index: {9} | timeout(seconds): {10}".
"({0}) took too long to get to position | lat: {1:13.9f}, lon: {2:13.9f}, alt: {3:6.2f}, xy off: {4}, z off: {5}, pos_d: {6:.2f}, alt_d: {7:.2f}, VTOL state: {8}, index: {9} | timeout(seconds): {10}".
format(self.mission_name, lat, lon, alt, xy_radius, z_radius,
self.last_pos_d, self.last_alt_d,
self.VTOL_STATES.get(self.extended_state.vtol_state), index,
@@ -392,7 +392,7 @@ class MavrosMissionTest(unittest.TestCase):
if self.extended_state.landed_state == desired_landed_state:
landed_state_confirmed = True
rospy.loginfo(
"landed state confirmed | state: {0}, index{1}".format(
"landed state confirmed | state: {0}, index: {1}".format(
self.LAND_STATES.get(desired_landed_state), index))
break
@@ -414,20 +414,7 @@ class MavrosMissionTest(unittest.TestCase):
rate = rospy.Rate(loop_freq)
transitioned = False
for i in xrange(timeout * loop_freq):
# transition to MC
if (transition == ExtendedState.VTOL_STATE_MC and
self.extended_state.vtol_state ==
ExtendedState.VTOL_STATE_MC):
rospy.loginfo(
"transitioned | index: {0} | seconds: {1} of {2}".format(
index, i / loop_freq, timeout))
transitioned = True
break
# transition to FW
if (transition == ExtendedState.VTOL_STATE_FW and
self.extended_state.vtol_state ==
ExtendedState.VTOL_STATE_FW):
if transition == self.extended_state.vtol_state:
rospy.loginfo(
"transitioned | index: {0} | seconds: {1} of {2}".format(
index, i / loop_freq, timeout))