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mavsdk_tests: use autopilot timestamps to sleep

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This way we should be able to avoid some of the timeouts happening on
the PX4 side if MAVSDK doesn't send setpoints in time.
This commit is contained in:
Julian Oes
2021-02-16 17:07:21 +01:00
committed by Lorenz Meier
parent 6c26387e85
commit 2315618b85
2 changed files with 27 additions and 29 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+9 -9
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@@ -45,7 +45,7 @@ void AutopilotTester::connect(const std::string uri)
std::cout << time_str() << "Waiting for system connect" << std::endl;
REQUIRE(poll_condition_with_timeout(
[this]() { return _mavsdk.is_connected(); }, adjust_to_lockstep_speed(std::chrono::seconds(25))));
[this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(25)));
auto &system = _mavsdk.system();
@@ -347,7 +347,7 @@ void AutopilotTester::fly_forward_in_posctl()
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
CHECK(_manual_control->start_position_control() == ManualControl::Result::Success);
@@ -355,19 +355,19 @@ void AutopilotTester::fly_forward_in_posctl()
// Climb up for 20 seconds
for (unsigned i = 0; i < 20 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
// Fly forward for 60 seconds
for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
// Descend until disarmed
for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.0f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
if (!_telemetry->in_air()) {
break;
@@ -382,7 +382,7 @@ void AutopilotTester::fly_forward_in_altctl()
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success);
@@ -390,19 +390,19 @@ void AutopilotTester::fly_forward_in_altctl()
// Climb up for 20 seconds
for (unsigned i = 0; i < 20 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
// Fly forward for 60 seconds
for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
// Descend until disarmed
for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.0f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
if (!_telemetry->in_air()) {
break;