def test_run_reset(self):
quad = Quadcopter()
assert quad.t == 0
quad.run(t=1)
assert quad.t == approx(1)
quad.reset()
assert quad.t == 0
def test_Quadcopter_yaw(self):
quad = Quadcopter()
# only two motors on, to produce a yaw
quad.set_thrust(0, 10, 0, 10)
quad.run(t=1)
assert quad.rpy.yaw > 0
assert quad.rpy.pitch == 0
assert quad.rpy.roll == 0
#
# now try to yaw in the opposite direction
quad.reset()
quad.set_thrust(10, 0, 10, 0)
quad.run(t=1)
assert quad.rpy.yaw < 0
assert quad.rpy.pitch == 0
assert quad.rpy.roll == 0