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This commit is contained in:
Oleg Kalachev
2022-12-11 13:47:30 +03:00
parent b36b1de5e4
commit 7cd8f2501e
1 changed files with 5 additions and 0 deletions
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clover/test/offboard.py
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@@ -136,6 +136,11 @@ def test_offboard(node):
assert state.pitch_rate == approx(0.2)
assert state.yaw_rate == approx(0.1)
assert state.thrust == approx(0.3)
msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
assert msg.type_mask == mavros_msgs.msg.AttitudeTarget.IGNORE_ATTITUDE
assert msg.body_rate.x == approx(0.3)
assert msg.body_rate.y == approx(0.2)
assert msg.body_rate.z == approx(0.1)
res = set_rates(roll_rate=inf)
assert res.success == False