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Add test for set_rates thrust output

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This commit is contained in:
Oleg Kalachev
2022-12-08 11:44:02 +03:00
parent 2a74940140
commit 3c21c5ea71
1 changed files with 4 additions and 2 deletions
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6
clover/test/offboard.py
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@@ -105,7 +105,7 @@ def test_offboard(node):
assert msg.thrust == approx(0.5)
# test set_rates
res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=0.3, thrust=0.5)
res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=0.3, thrust=0.6)
assert res.success == True
state = get_state()
assert state.mode == State.MODE_RATES
@@ -113,7 +113,9 @@ def test_offboard(node):
assert state.roll_rate == approx(0)
assert state.pitch_rate == approx(0)
assert state.yaw_rate == approx(0.3)
assert state.thrust == approx(0.5)
assert state.thrust == approx(0.6)
msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
assert msg.thrust == approx(0.6)
res = set_rates(roll_rate=0.3, pitch_rate=0.2, yaw_rate=0.1, thrust=0.4)
assert res.success == True