From 17f49ec8cb2da6034dcdaf1c1b6adf1baa73f5d7 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Sun, 11 Dec 2016 16:16:07 +0100
Subject: [PATCH] Integration tests: use separate commands to set mode and arm
---
.../px4_it/mavros/mavros_offboard_attctl_test.py | 10 +++++++++-
.../px4_it/mavros/mavros_offboard_posctl_test.py | 10 +++++++++-
.../python_src/px4_it/mavros/mission_test.py | 13 ++++++++++---
3 files changed, 28 insertions(+), 5 deletions(-)
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
index 8668a34d2a..9c90289737 100755
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
@@ -40,6 +40,7 @@ PKG = 'px4'
import unittest
import rospy
import rosbag
+import time
from std_msgs.msg import Header
from std_msgs.msg import Float64
@@ -122,7 +123,14 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
# (need to wait the first few rounds until PX4 has the offboard stream)
if not armed and count > 5:
self._srv_cmd_long(False, 176, False,
- 128 | 1, 6, 0, 0, 0, 0, 0)
+ 1, 6, 0, 0, 0, 0, 0)
+ # make sure the first command doesn't get lost
+ time.sleep(1)
+
+ self._srv_cmd_long(False, 400, False,
+ # arm
+ 1, 0, 0, 0, 0, 0, 0)
+
armed = True
if (self.local_position.pose.position.x > 5
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
index bd106d672b..c39f400a67 100755
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
@@ -41,6 +41,7 @@ import unittest
import rospy
import math
import rosbag
+import time
from numpy import linalg
import numpy as np
@@ -131,7 +132,14 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
# (need to wait the first few rounds until PX4 has the offboard stream)
if not self.armed and count > 5:
self._srv_cmd_long(False, 176, False,
- 128 | 1, 6, 0, 0, 0, 0, 0)
+ 1, 6, 0, 0, 0, 0, 0)
+ # make sure the first command doesn't get lost
+ time.sleep(1)
+
+ self._srv_cmd_long(False, 400, False,
+ # arm
+ 1, 0, 0, 0, 0, 0, 0)
+
self.armed = True
if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 1):
diff --git a/integrationtests/python_src/px4_it/mavros/mission_test.py b/integrationtests/python_src/px4_it/mavros/mission_test.py
index 5b3fbd2e53..95b71b9411 100755
--- a/integrationtests/python_src/px4_it/mavros/mission_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mission_test.py
@@ -43,6 +43,7 @@ import math
import rosbag
import sys
import os
+import time
import mavros
from pymavlink import mavutil
@@ -174,10 +175,16 @@ class MavrosMissionTest(unittest.TestCase):
(self.mission_name, lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d)))
def run_mission(self):
- """switch mode: armed | auto"""
+ """switch mode: auto and arm"""
self._srv_cmd_long(False, 176, False,
- # arm | custom, auto, mission
- 128 | 1, 4, 4, 0, 0, 0, 0)
+ # custom, auto, mission
+ 1, 4, 4, 0, 0, 0, 0)
+ # make sure the first command doesn't get lost
+ time.sleep(1)
+
+ self._srv_cmd_long(False, 400, False,
+ # arm
+ 1, 0, 0, 0, 0, 0, 0)
def wait_until_ready(self):
"""FIXME: hack to wait for simulation to be ready"""
--
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