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Speed up mavsdk sitl tests

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This commit is contained in:
kamilritz
2020-05-05 11:42:06 +02:00
committed by Julian Oes
parent af1a445031
commit 5bd0df422d
4 changed files with 15 additions and 12 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+2 -2
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@@ -124,10 +124,10 @@ void AutopilotTester::transition_to_multicopter()
REQUIRE(result == Action::Result::SUCCESS); REQUIRE(result == Action::Result::SUCCESS);
} }
void AutopilotTester::wait_until_disarmed() void AutopilotTester::wait_until_disarmed(std::chrono::seconds timeout_duration)
{ {
REQUIRE(poll_condition_with_timeout( REQUIRE(poll_condition_with_timeout(
[this]() { return !_telemetry->armed(); }, std::chrono::seconds(60))); [this]() { return !_telemetry->armed(); }, timeout_duration));
} }
void AutopilotTester::wait_until_hovering() void AutopilotTester::wait_until_hovering()
test/mavsdk_tests/autopilot_tester.h
+1 -1
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@@ -69,7 +69,7 @@ public:
void land(); void land();
void transition_to_fixedwing(); void transition_to_fixedwing();
void transition_to_multicopter(); void transition_to_multicopter();
void wait_until_disarmed(); void wait_until_disarmed(std::chrono::seconds timeout_duration = std::chrono::seconds(60));
void wait_until_hovering(); void wait_until_hovering();
void prepare_square_mission(MissionOptions mission_options); void prepare_square_mission(MissionOptions mission_options);
void execute_mission(); void execute_mission();
test/mavsdk_tests/test_multicopter_mission.cpp
+2 -1
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@@ -48,7 +48,8 @@ TEST_CASE("Takeoff and Land", "[multicopter][vtol]")
tester.takeoff(); tester.takeoff();
tester.wait_until_hovering(); tester.wait_until_hovering();
tester.land(); tester.land();
tester.wait_until_disarmed(); std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(15);
tester.wait_until_disarmed(until_disarmed_timeout);
} }
TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]") TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]")
test/mavsdk_tests/test_multicopter_offboard.cpp
+10 -8
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@@ -47,9 +47,10 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
tester.wait_until_ready_local_position_only(); tester.wait_until_ready_local_position_only();
tester.store_home(); tester.store_home();
tester.arm(); tester.arm();
tester.offboard_goto(takeoff_position, 0.5f); std::chrono::seconds goto_timeout = std::chrono::seconds(10);
tester.offboard_goto(takeoff_position, 0.5f, goto_timeout);
tester.offboard_land(); tester.offboard_land();
tester.wait_until_disarmed(); tester.wait_until_disarmed(goto_timeout);
tester.check_home_within(0.5f); tester.check_home_within(0.5f);
} }
@@ -64,12 +65,13 @@ TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
tester.wait_until_ready_local_position_only(); tester.wait_until_ready_local_position_only();
tester.store_home(); tester.store_home();
tester.arm(); tester.arm();
tester.offboard_goto(takeoff_position, 0.5f); std::chrono::seconds goto_timeout = std::chrono::seconds(10);
tester.offboard_goto(setpoint_1, 1.0f); tester.offboard_goto(takeoff_position, 0.5f, goto_timeout);
tester.offboard_goto(setpoint_2, 1.0f); tester.offboard_goto(setpoint_1, 1.0f, goto_timeout);
tester.offboard_goto(setpoint_3, 1.0f); tester.offboard_goto(setpoint_2, 1.0f, goto_timeout);
tester.offboard_goto(takeoff_position, 0.2f); tester.offboard_goto(setpoint_3, 1.0f, goto_timeout);
tester.offboard_goto(takeoff_position, 0.2f, goto_timeout);
tester.offboard_land(); tester.offboard_land();
tester.wait_until_disarmed(); tester.wait_until_disarmed(goto_timeout);
tester.check_home_within(1.0f); tester.check_home_within(1.0f);
} }