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mavsdk_tests: add two new tests for VTOLs

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- add functionality to specify world name for simulation in case name
- add test for triggering an airspeed invalidation in case of pitot blockage
- add test for high wind (ramped up wind over short period) to NOT invalidate airspeed in this case

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-07-19 11:29:28 +02:00
parent 29714a0fba
commit 5efcde7412
11 changed files with 246 additions and 7 deletions
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src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
+5 -3
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@@ -328,12 +328,14 @@ void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil
// differential pressure
if ((sensors.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS && !_airspeed_disconnected) {
const float blockage_fraction = 0.7; // defines max blockage (fully ramped)
const float airspeed_blockage_rampup_time = 1_s; // time it takes to go max blockage, linear ramp
float airspeed_blockage_scale = 1.f;
const float airspeed_blockage_rampup_time = 60_s; // time it takes to block the airspeed sensor completely, linear ramp
if (_airspeed_blocked_timestamp > 0) {
airspeed_blockage_scale = math::constrain(1.f - (hrt_absolute_time() - _airspeed_blocked_timestamp) /
airspeed_blockage_rampup_time, 0.5f, 1.f);
airspeed_blockage_rampup_time, 1.f - blockage_fraction, 1.f);
}
differential_pressure_s report{};
@@ -1443,7 +1445,7 @@ void SimulatorMavlink::check_failure_injections()
_airspeed_disconnected = true;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_WRONG) {
PX4_WARN("CMD_INJECT_FAILURE, airspeed wrong (simulate icing)");
PX4_WARN("CMD_INJECT_FAILURE, airspeed wrong (simulate pitot blockage)");
supported = true;
_airspeed_blocked_timestamp = hrt_absolute_time();