lengthen offboard tests

* land after offboard flying complete
* lengthen rostest time limit for tests (5 min ea)

integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py

@@ -83,7 +83,7 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
         self.att.body_rate = Vector3()
         self.att.header = Header()
         self.att.header.frame_id = "base_footprint"
-        self.att.orientation = Quaternion(*quaternion_from_euler(0.25, 0.25,
+        self.att.orientation = Quaternion(*quaternion_from_euler(-0.25, 0.5,
                                                                  0))
         self.att.thrust = 0.7
         self.att.type_mask = 7  # ignore body rate
@@ -102,9 +102,9 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
     def test_attctl(self):
         """Test offboard attitude control"""
         # boundary to cross
-        boundary_x = 5
+        boundary_x = 200
-        boundary_y = 5
+        boundary_y = 100
-        boundary_z = -5
+        boundary_z = 50
 
         # make sure the simulation is ready to start the mission
         self.wait_for_topics(60)
@@ -119,14 +119,14 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
         rospy.loginfo("attempting to cross boundary | x: {0}, y: {1}, z: {2}".
                       format(boundary_x, boundary_y, boundary_z))
         # does it cross expected boundaries in 'timeout' seconds?
-        timeout = 12  # (int) seconds
+        timeout = 90  # (int) seconds
         loop_freq = 2  # Hz
         rate = rospy.Rate(loop_freq)
         crossed = False
         for i in xrange(timeout * loop_freq):
             if (self.local_position.pose.position.x > boundary_x and
-                    self.local_position.pose.position.z > boundary_y and
+                    self.local_position.pose.position.y > boundary_y and
-                    self.local_position.pose.position.y < boundary_z):
+                    self.local_position.pose.position.z > boundary_z):
                 rospy.loginfo("boundary crossed | seconds: {0} of {1}".format(
                     i / loop_freq, timeout))
                 crossed = True
@@ -143,6 +143,9 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
                    self.local_position.pose.position.y,
                    self.local_position.pose.position.z, timeout)))
 
+        self.set_mode("AUTO.LAND", 5)
+        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
+                                   90, 0)
         self.set_arm(False, 5)
 
 

integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py

@@ -166,12 +166,16 @@ class MavrosOffboardPosctlTest(MavrosTestCommon):
         self.set_arm(True, 5)
 
         rospy.loginfo("run mission")
-        positions = ((0, 0, 0), (2, 2, 2), (2, -2, 2), (-2, -2, 2), (2, 2, 2))
+        positions = ((0, 0, 0), (50, 50, 20), (50, -50, 20), (-50, -50, 20),
+                     (0, 0, 20))
 
         for i in xrange(len(positions)):
             self.reach_position(positions[i][0], positions[i][1],
-                                positions[i][2], 18)
+                                positions[i][2], 30)
 
+        self.set_mode("AUTO.LAND", 5)
+        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
+                                   45, 0)
         self.set_arm(False, 5)
 
 

integrationtests/python_src/px4_it/mavros/mission_test.py

@@ -107,6 +107,7 @@ def read_plan_file(f):
     else:
         raise IOError("no mission items")
 
+
 class MavrosMissionTest(MavrosTestCommon):
     """
     Run a mission
@@ -198,8 +199,8 @@ class MavrosMissionTest(MavrosTestCommon):
                 # advanced to next wp
                 (index < self.mission_wp.current_seq)
                 # end of mission
-                or (index == (mission_length - 1)
+                or (index == (mission_length - 1) and
-                    and self.mission_item_reached == index))
+                    self.mission_item_reached == index))
 
             if reached:
                 rospy.loginfo(
@@ -257,8 +258,8 @@ class MavrosMissionTest(MavrosTestCommon):
         rospy.loginfo("run mission {0}".format(self.mission_name))
         for index, waypoint in enumerate(wps):
             # only check position for waypoints where this makes sense
-            if (waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT
+            if (waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or
-                    or waypoint.frame == Waypoint.FRAME_GLOBAL):
+                    waypoint.frame == Waypoint.FRAME_GLOBAL):
                 alt = waypoint.z_alt
                 if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
                     alt += self.altitude.amsl - self.altitude.relative
@@ -280,8 +281,8 @@ class MavrosMissionTest(MavrosTestCommon):
                 self.wait_for_vtol_state(transition, 60, index)
 
             # after reaching position, wait for landing detection if applicable
-            if (waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND
+            if (waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND or
-                    or waypoint.command == mavutil.mavlink.MAV_CMD_NAV_LAND):
+                    waypoint.command == mavutil.mavlink.MAV_CMD_NAV_LAND):
                 self.wait_for_landed_state(
                     mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND, 60, index)
 

test/mavros_posix_tests_iris_opt_flow.test

@@ -13,6 +13,6 @@
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
     <!-- ROStest -->
-    <test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
+    <test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="300.0"/>
-    <test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
+    <test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="300.0"/>
 </launch>

test/mavros_posix_tests_missions.test

@@ -13,7 +13,7 @@
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
     <!-- ROStest -->
-    <test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.plan"/>
+    <test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="300.0" args="multirotor_box.plan"/>
     <test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.plan"/>
     <test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.plan"/>
     <test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.plan"/>

test/mavros_posix_tests_offboard_attctl.test

@@ -13,5 +13,5 @@
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
     <!-- ROStest -->
-    <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="120.0"/>
+    <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="300.0"/>
 </launch>

test/mavros_posix_tests_offboard_posctl.test

@@ -13,5 +13,5 @@
         <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
     </include>
     <!-- ROStest -->
-    <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/>
+    <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="300.0"/>
 </launch>