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Improve offboard failsafe (#18160)

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* state_machine_helper: improve offboard failsafe

* state_machine_helper: add missing parameter to set_link_loss_nav_state

* state_machine_helper: fix no rc and offboard reason

* Fix offboard test by enabling rcl_except

* mavros_test fix offboard_posctl_test with rcl_except

* autopilot_tester make RcLossException bits explicit

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester change rcl_except to rc_loss_exception

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester fix rc_loss_exception renaming errors

Co-authored-by: Julian Oes <julian@oes.ch>
This commit is contained in:
benjinne
2021-09-08 18:19:53 +02:00
committed by GitHub
co-authored by Julian Oes
parent 686bcff8a7
commit 06a91ec752
6 changed files with 79 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/autopilot_tester.cpp
+16
View File
@@ -143,6 +143,22 @@ void AutopilotTester::set_height_source(AutopilotTester::HeightSource height_sou
}
}
void AutopilotTester::set_rc_loss_exception(AutopilotTester::RcLossException mask)
{
switch (mask) {
case RcLossException::Mission:
CHECK(_param->set_param_int("COM_RCL_EXCEPT", 1 << 0) == Param::Result::Success);
break;
case RcLossException::Hold:
CHECK(_param->set_param_int("COM_RCL_EXCEPT", 1 << 1) == Param::Result::Success);
break;
case RcLossException::Offboard:
CHECK(_param->set_param_int("COM_RCL_EXCEPT", 1 << 2) == Param::Result::Success);
}
}
void AutopilotTester::arm()
{
const auto result = _action->arm();
test/mavsdk_tests/autopilot_tester.h
+7
View File
@@ -85,6 +85,12 @@ public:
Gps
};
enum class RcLossException {
Mission = 0,
Hold = 1,
Offboard = 2
};
AutopilotTester();
~AutopilotTester();
@@ -96,6 +102,7 @@ public:
void check_home_not_within(float min_distance_m);
void set_takeoff_altitude(const float altitude_m);
void set_height_source(HeightSource height_source);
void set_rc_loss_exception(RcLossException mask);
void arm();
void takeoff();
void land();
test/mavsdk_tests/test_multicopter_offboard.cpp
+2
View File
@@ -42,6 +42,7 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
tester.connect(connection_url);
tester.wait_until_ready();
tester.store_home();
tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(90);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
@@ -60,6 +61,7 @@ TEST_CASE("Offboard position control", "[multicopter][offboard]")
tester.connect(connection_url);
tester.wait_until_ready();
tester.store_home();
tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(120);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);