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mavsdk_tests: ensure motor is stopped for motor failure test

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This commit is contained in:
Beat Küng
2022-05-12 07:58:56 +02:00
parent b5a3c58a95
commit 0a9378e0f6
3 changed files with 27 additions and 0 deletions
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test/mavsdk_tests/test_multicopter_control_allocation.cpp
+4
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@@ -61,6 +61,7 @@ TEST_CASE("Control Allocation - Remove one motor", "[controlallocation]")
tester.set_rtl_altitude(flight_altitude);
tester.check_tracks_mission(5.f);
tester.store_home();
tester.enable_actuator_output_status();
std::this_thread::sleep_for(std::chrono::seconds(
1)); // This is necessary for the takeoff altitude to be applied properly
@@ -74,12 +75,15 @@ TEST_CASE("Control Allocation - Remove one motor", "[controlallocation]")
// Motor failure mid-air
tester.start_checking_altitude(altitude_tolerance);
const int motor_instance = 1;
const unsigned num_motors = 6; // TODO: get from model
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off, motor_instance,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.ensure_motor_stopped(motor_instance - 1, num_motors);
tester.execute_mission();
tester.stop_checking_altitude();
tester.ensure_motor_stopped(motor_instance - 1, num_motors); // just to be sure
// RTL
tester.execute_rtl();