From 86ad46746064630b7e7e5091cac3b243c3244f30 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 15 Dec 2022 18:27:20 +0300
Subject: [PATCH] More tests

---
 clover/test/offboard.py | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/clover/test/offboard.py b/clover/test/offboard.py
index c77b5e61..4e9853e1 100755
--- a/clover/test/offboard.py
+++ b/clover/test/offboard.py
@@ -139,6 +139,37 @@ def test_offboard(node, tf_buffer):
     assert state.z_frame_id == 'map'
     assert state.yaw_frame_id == 'map'
 
+    # auto_arm should invalidate the setpoint
+    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # set_attitude should invalidate the setpoint
+    res = set_attitude()
+    assert res.success == True
+
+    res = navigate(x=5, y=6, z=nan, frame_id='map')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
     # test set_velocity
     res = set_velocity(vx=1, frame_id='body')
     state = get_state()