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mavsdk_tests: add first GPS lost failsafe test

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This commit is contained in:
Julian Oes
2020-09-16 12:51:56 -04:00
committed by Daniel Agar
parent db87ba3a1c
commit 3c499fc3a2
4 changed files with 96 additions and 2 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+33 -1
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@@ -101,10 +101,12 @@ void AutopilotTester::connect(const std::string uri)
auto &system = _mavsdk.system();
_telemetry.reset(new Telemetry(system));
_action.reset(new Action(system));
_failure.reset(new Failure(system));
_mission.reset(new Mission(system));
_offboard.reset(new Offboard(system));
_param.reset(new Param(system));
_telemetry.reset(new Telemetry(system));
}
void AutopilotTester::wait_until_ready()
@@ -267,6 +269,36 @@ void AutopilotTester::execute_mission()
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
}
void AutopilotTester::execute_mission_and_lose_gps()
{
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
std::promise<void> prom;
auto fut = prom.get_future();
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
if (progress.current == 1) {
CHECK(_failure->inject(Failure::FailureUnit::SensorGps, Failure::FailureType::Off)
== Failure::Result::Success);
}
});
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(poll_condition_with_timeout(
[this]() {
auto flight_mode = _telemetry->flight_mode();
return flight_mode == Telemetry::FlightMode::Land;
}, std::chrono::seconds(60)));
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
}
CoordinateTransformation AutopilotTester::get_coordinate_transformation()
{
const auto home = _telemetry->home();