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46 lines
1.3 KiB
Python
Executable File
46 lines
1.3 KiB
Python
Executable File
#!/usr/bin/env python3
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# Script for testing pyflix and the simulation.
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from math import isclose, isnan, isfinite
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from pyflix import Flix
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print('=== Connect...')
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flix = Flix()
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print('=== Check initial state')
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assert flix.connected
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assert flix.mode == 'STAB'
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assert not flix.armed
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assert flix.landed
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assert isnan(flix.voltage)
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assert all(isclose(r, 0) for r in flix.rates)
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assert isclose(flix.attitude[0], 0) and isclose(flix.attitude[1], 0) and isclose(flix.attitude[2], 0)
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assert isclose(flix.attitude[3], 1)
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assert all(isclose(a, 0) for a in flix.attitude_euler)
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assert all(m == 0 for m in flix.motors)
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assert all(isclose(a, 0) for a in flix.acc)
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assert all(isclose(g, 0) for g in flix.gyro)
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assert all(ch == 0 for ch in flix.channels)
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print('=== Check console commands')
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assert 'Time: ' in flix.cli('time')
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assert 'Landed: 1' in flix.cli('imu')
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print('=== Check parameters')
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assert isfinite(flix.get_param('CTL_ATT_P_P'))
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flix.set_param('CTL_ATT_P_P', 10.0)
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print('=== Additional checks')
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assert flix.wait('connected') is True
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assert flix.wait('gyro') is not None
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flix.wait('armed', False)
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flix.wait('mode', 'STAB')
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flix.wait('motors', lambda motors: not any(motors))
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flix.set_armed(True)
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flix.wait('armed', True)
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flix.set_mode('ACRO')
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flix.wait('mode', 'ACRO')
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flix.set_mode('AUTO')
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flix.wait('mode', 'AUTO')
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