mavsdk_tests: add multicopter alt hold test (#24396)

* mavsdk_tests: add multicopter alt hold test * fix test filter * increase altitude tolerance to 10m as a test * reduce to 1m tolerance * increase to 5m tolerance * increase to 2m tolerance * reduce back to 1m * delay 60 seconds * fix log upload * fix ulog upload path * make altitude tolerance in tester.wait_until_altitude configurable * fix lambda * default arg in declaration * tighten up tolerance
2026-10-17 08:23:33 +08:00 · 2025-03-21 16:21:10 -06:00
parent a048a8e8a0
commit 4c0a63f679
5 changed files with 71 additions and 5 deletions
@@ -0,0 +1,65 @@
+/****************************************************************************
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+
+#include <thread>
+#include <chrono>
+#include <math.h>
+
+#include "autopilot_tester.h"
+
+TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
+{
+	const float takeoff_altitude = 10.f;
+	const float altitude_tolerance = 0.1f;
+	const int delay_seconds = 60.f;
+
+	AutopilotTester tester;
+	tester.connect(connection_url);
+	tester.wait_until_ready();
+
+	tester.set_takeoff_altitude(takeoff_altitude);
+	tester.store_home();
+	// The sleep here is necessary for the takeoff altitude to be applied properly
+	std::this_thread::sleep_for(std::chrono::seconds(1));
+
+	// Takeoff
+	tester.arm();
+	tester.takeoff();
+	tester.wait_until_hovering();
+	tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30), altitude_tolerance);
+
+	// Monitor altitude and fail if it exceeds the tolerance
+	tester.start_checking_altitude(altitude_tolerance + 0.1);
+
+	std::this_thread::sleep_for(std::chrono::seconds(delay_seconds));
+}