From 6d5832b67a42d0848d03038bd9424504a2a9b567 Mon Sep 17 00:00:00 2001 From: Balduin Date: Thu, 30 Jan 2025 11:27:45 +0100 Subject: [PATCH] figure 8 test: longer transition timeout, no sleep maybe this is a band-aid fix, and we actually should make sure the transition can be achieved in the given 5 seconds, as it is very reliably in the corresponding gazebo test case. check: - does SIH_T_MAX make sense? - does SIH_MASS make sense? - and any other model parameters which are suspicious --- test/mavsdk_tests/test_vtol_figure_eight.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/test/mavsdk_tests/test_vtol_figure_eight.cpp b/test/mavsdk_tests/test_vtol_figure_eight.cpp index 2baee95d3d..394a92775d 100644 --- a/test/mavsdk_tests/test_vtol_figure_eight.cpp +++ b/test/mavsdk_tests/test_vtol_figure_eight.cpp @@ -50,8 +50,7 @@ TEST_CASE("Figure eight execution clockwise", "[vtol]") tester.wait_until_hovering(); tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30)); tester.transition_to_fixedwing(); - tester.wait_until_fixedwing(std::chrono::seconds(5)); - tester.sleep_for(std::chrono::seconds(1)); + tester.wait_until_fixedwing(std::chrono::seconds(10)); tester.set_figure_eight(150., 50., 0., 200., 0., 20.); tester.execute_figure_eight(); tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.); @@ -73,8 +72,7 @@ TEST_CASE("Figure eight execution counterclockwise", "[vtol]") tester.wait_until_hovering(); tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30)); tester.transition_to_fixedwing(); - tester.wait_until_fixedwing(std::chrono::seconds(5)); - tester.sleep_for(std::chrono::seconds(1)); + tester.wait_until_fixedwing(std::chrono::seconds(10)); tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.); tester.execute_figure_eight(); tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.);