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fixed landing and transition detection test

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This commit is contained in:
Andreas Antener
2016-06-27 23:32:29 +02:00
committed by Lorenz Meier
parent d995f758c2
commit 37884dc5dd
1 changed files with 17 additions and 7 deletions
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integrationtests/python_src/px4_it/mavros/mission_test.py
+17 -7
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@@ -207,17 +207,19 @@ class MavrosMissionTest(unittest.TestCase):
count = 0 count = 0
while count < timeout: while count < timeout:
# transition to MC # transition to MC
if transition == 3 and self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC: if (transition == ExtendedState.VTOL_STATE_MC and
self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC):
break break
# transition to FW # transition to FW
if transition == 4 and self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW: if (transition == ExtendedState.VTOL_STATE_FW and
self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW):
break break
count = count + 1 count = count + 1
self.rate.sleep() self.rate.sleep()
self.assertTrue(count < timeout, ("landing not detected after landing WP " + self.assertTrue(count < timeout, ("transition not detected " +
"timeout: %d, index: %d") % "timeout: %d, index: %d") %
(timeout, index)) (timeout, index))
@@ -265,14 +267,22 @@ class MavrosMissionTest(unittest.TestCase):
alt += self.home_alt alt += self.home_alt
self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 600, index) self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 600, index)
# check if VTOL transition happens if applicable
if waypoint.command == 84 or waypoint.command == 85 or waypoint.command == 3000:
transition = waypoint.param1
if waypoint.command == 84: # VTOL takeoff implies transition to FW
transition = ExtendedState.VTOL_STATE_FW
if waypoint.command == 85: # VTOL takeoff implies transition to MC
transition = ExtendedState.VTOL_STATE_MC
self.wait_on_transition(transition, 600, index)
# after reaching position, wait for landing detection if applicable # after reaching position, wait for landing detection if applicable
if waypoint.command == 85 or waypoint.command == 21: if waypoint.command == 85 or waypoint.command == 21:
self.wait_on_landing(600, index) self.wait_on_landing(600, index)
# check if VTOL transition happens if applicable
if waypoint.command == 84 or waypoint.command == 3000:
self.wait_on_transition(waypoint.param1, 600, index)
index += 1 index += 1