def test_posctl(self): # FIXME: this must go ASAP when arming is implemented manIn = ManualInput() manIn.arm() manIn.offboard_posctl() 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") # prepare flight path positions = ( (0,0,0), (2,2,2), (2,-2,2), (-2,-2,2), (2,2,2)) for i in range(0, len(positions)): self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120) # does it hold the position for Y seconds? positionHeld = True count = 0 timeout = 50 while(count < timeout): if(not self.is_at_position(2, 2, 2, 0.5)): positionHeld = False break count = count + 1 self.rate.sleep() self.assertTrue(count == timeout, "position could not be held")
def test_posctl(self): # FIXME: this must go ASAP when arming is implemented manIn = ManualInput() manIn.arm() manIn.offboard_posctl() 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") # prepare flight path positions = ((0, 0, 0), (2, 2, 2), (2, -2, 2), (-2, -2, 2), (2, 2, 2)) for i in range(0, len(positions)): self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120) # does it hold the position for Y seconds? positionHeld = True count = 0 timeout = 50 while (count < timeout): if (not self.is_at_position(2, 2, 2, 0.5)): positionHeld = False break count = count + 1 self.rate.sleep() self.assertTrue(count == timeout, "position could not be held")