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mavsdk_tests: use speed factor, increase timeouts

Browse Source 
We had not actually properly adjusted the timeout to the lockstep speed
factor. Once we did that, we had to increase the timeouts quite a bit to
have the tests pass.
This commit is contained in:
Julian Oes 2020-07-31 09:41:08 +02:00 committed by Daniel Agar
parent 4eb1ea10f0
commit a5a577a6c4
5 changed files with 78 additions and 51 deletions
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43
test/mavsdk_tests/autopilot_tester.cpp
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@ -62,7 +62,7 @@ void AutopilotTester::wait_until_ready()
{
std::cout << "Waiting for system to be ready" << std::endl;
CHECK(poll_condition_with_timeout(
[this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(20)));
[this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(30)));
// FIXME: workaround to prevent race between PX4 switching to Hold mode
// and us trying to arm and take off. If PX4 is not in Hold mode yet,
@ -159,7 +159,7 @@ void AutopilotTester::wait_until_disarmed(std::chrono::seconds timeout_duration)
void AutopilotTester::wait_until_hovering()
{
REQUIRE(poll_condition_with_timeout(
[this]() { return _telemetry->landed_state() == Telemetry::LandedState::InAir; }, std::chrono::seconds(20)));
[this]() { return _telemetry->landed_state() == Telemetry::LandedState::InAir; }, std::chrono::seconds(30)));
}
void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
@ -235,7 +235,7 @@ void AutopilotTester::execute_mission_and_lose_gps()
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
std::cout << "Progress: " << progress.current << "/" << progress.total << std::endl;
if (progress.current == 1) {
std::thread([this]() {
@ -258,7 +258,7 @@ void AutopilotTester::execute_mission_and_lose_gps()
[this]() {
auto flight_mode = _telemetry->flight_mode();
return flight_mode == Telemetry::FlightMode::Land;
}, std::chrono::seconds(60)));
}, std::chrono::seconds(90)));
}
void AutopilotTester::execute_mission_and_lose_mag()
@ -266,7 +266,7 @@ void AutopilotTester::execute_mission_and_lose_mag()
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
std::cout << "Progress: " << progress.current << "/" << progress.total << std::endl;
if (progress.current == 1) {
std::thread([this]() {
@ -289,7 +289,7 @@ void AutopilotTester::execute_mission_and_lose_mag()
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}, std::chrono::seconds(90)));
}
@ -298,7 +298,7 @@ void AutopilotTester::execute_mission_and_lose_baro()
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
std::cout << "Progress: " << progress.current << "/" << progress.total << std::endl;
if (progress.current == 1) {
std::thread([this]() {
@ -321,7 +321,7 @@ void AutopilotTester::execute_mission_and_lose_baro()
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}, std::chrono::seconds(90)));
}
void AutopilotTester::execute_mission_and_get_baro_stuck()
@ -329,7 +329,7 @@ void AutopilotTester::execute_mission_and_get_baro_stuck()
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
std::cout << "Progress: " << progress.current << "/" << progress.total << std::endl;
if (progress.current == 1) {
std::thread([this]() {
@ -352,7 +352,7 @@ void AutopilotTester::execute_mission_and_get_baro_stuck()
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}, std::chrono::seconds(90)));
}
void AutopilotTester::execute_mission_and_get_mag_stuck()
@ -360,7 +360,7 @@ void AutopilotTester::execute_mission_and_get_mag_stuck()
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
std::cout << "Progress: " << progress.current << "/" << progress.total << std::endl;
if (progress.current == 1) {
std::thread([this]() {
@ -383,7 +383,7 @@ void AutopilotTester::execute_mission_and_get_mag_stuck()
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}, std::chrono::seconds(120)));
}
CoordinateTransformation AutopilotTester::get_coordinate_transformation()
@ -480,9 +480,16 @@ void AutopilotTester::offboard_land()
bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m)
{
Telemetry::PositionNed est_pos = _telemetry->position_velocity_ned().position;
return sq(est_pos.north_m - target_pos.north_m) +
sq(est_pos.east_m - target_pos.east_m) +
sq(est_pos.down_m - target_pos.down_m) < sq(acceptance_radius_m);
const float distance_m = std::sqrt(sq(est_pos.north_m - target_pos.north_m) +
sq(est_pos.east_m - target_pos.east_m) +
sq(est_pos.down_m - target_pos.down_m));
const bool pass = distance_m < acceptance_radius_m;
if (!pass) {
std::cout << "distance: " << distance_m << ", " << "acceptance: " << acceptance_radius_m << std::endl;
}
return pass;
}
bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos,
@ -538,6 +545,12 @@ std::chrono::milliseconds AutopilotTester::adjust_to_lockstep_speed(std::chrono:
auto speed_factor = _info->get_speed_factor();
if (speed_factor.first == Info::Result::Success) {
// FIXME: Remove this again:
// Sanitize speed factor to avoid test failures.
if (speed_factor.second > 20.0f) {
speed_factor.second = 20.0f;
}
return static_cast<std::chrono::milliseconds>(
static_cast<unsigned long>(
std::round(

8
test/mavsdk_tests/autopilot_tester.h
View File

@ -79,7 +79,7 @@ public:
void land();
void transition_to_fixedwing();
void transition_to_multicopter();
void wait_until_disarmed(std::chrono::seconds timeout_duration = std::chrono::seconds(90));
void wait_until_disarmed(std::chrono::seconds timeout_duration = std::chrono::seconds(60));
void wait_until_hovering();
void prepare_square_mission(MissionOptions mission_options);
void prepare_straight_mission(MissionOptions mission_options);
@ -116,13 +116,13 @@ private:
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
{
// We need millisecond resolution for sleeping.
std::chrono::milliseconds duration_ms(duration);
adjust_to_lockstep_speed(duration_ms);
const std::chrono::milliseconds duration_ms(duration);
const auto duration_ms_adjusted = adjust_to_lockstep_speed(duration_ms);
unsigned iteration = 0;
while (!fun()) {
std::this_thread::sleep_for(duration_ms / 100);
std::this_thread::sleep_for(duration_ms_adjusted / 100);
if (iteration++ >= 100) {
return false;

24
test/mavsdk_tests/test_multicopter_failsafe.cpp
View File

@ -52,7 +52,8 @@ TEST_CASE("Land on GPS lost during mission (baro height mode)", "[multicopter][v
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_lose_gps();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(30);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Land on GPS lost during mission (GPS height mode)", "[multicopter][vtol]")
@ -68,7 +69,8 @@ TEST_CASE("Land on GPS lost during mission (GPS height mode)", "[multicopter][vt
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_lose_gps();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(30);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Continue on mag lost during mission", "[multicopter][vtol]")
@ -82,7 +84,8 @@ TEST_CASE("Continue on mag lost during mission", "[multicopter][vtol]")
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_lose_mag();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(120);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Continue on mag stuck during mission", "[multicopter][vtol]")
@ -96,7 +99,8 @@ TEST_CASE("Continue on mag stuck during mission", "[multicopter][vtol]")
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_get_mag_stuck();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(90);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Continue on baro lost during mission (baro height mode)", "[multicopter][vtol]")
@ -111,7 +115,8 @@ TEST_CASE("Continue on baro lost during mission (baro height mode)", "[multicopt
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_lose_baro();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(90);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Continue on baro lost during mission (GPS height mode)", "[multicopter][vtol]")
@ -126,7 +131,8 @@ TEST_CASE("Continue on baro lost during mission (GPS height mode)", "[multicopte
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_lose_baro();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(90);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Continue on baro stuck during mission (baro height mode)", "[multicopter][vtol]")
@ -141,7 +147,8 @@ TEST_CASE("Continue on baro stuck during mission (baro height mode)", "[multicop
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_get_baro_stuck();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(90);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Continue on baro stuck during mission (GPS height mode)", "[multicopter][vtol]")
@ -156,5 +163,6 @@ TEST_CASE("Continue on baro stuck during mission (GPS height mode)", "[multicopt
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_get_baro_stuck();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(90);
tester.wait_until_disarmed(until_disarmed_timeout);
}

50
test/mavsdk_tests/test_multicopter_mission.cpp
View File

@ -48,36 +48,41 @@ TEST_CASE("Takeoff and Land", "[multicopter][vtol]")
tester.takeoff();
tester.wait_until_hovering();
tester.land();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(15);
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(30);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]")
TEST_CASE("Fly square Multicopter Missions including RTL", "[multicopter][vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
tester.wait_until_ready();
SECTION("Mission including RTL") {
AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = true;
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission();
tester.wait_until_disarmed();
}
AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = true;
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
tester.wait_until_disarmed(until_disarmed_timeout);
}
SECTION("Mission with manual RTL") {
AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = false;
tester.prepare_square_mission(mission_options);
tester.check_tracks_mission();
tester.arm();
tester.execute_mission();
tester.wait_until_hovering();
tester.execute_rtl();
tester.wait_until_disarmed();
}
TEST_CASE("Fly square Multicopter Missions with manual RTL", "[multicopter][vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
tester.wait_until_ready();
AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = false;
tester.prepare_square_mission(mission_options);
tester.check_tracks_mission();
tester.arm();
tester.execute_mission();
tester.wait_until_hovering();
tester.execute_rtl();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
tester.wait_until_disarmed(until_disarmed_timeout);
}
TEST_CASE("Fly straight Multicopter Mission", "[multicopter]")
@ -96,5 +101,6 @@ TEST_CASE("Fly straight Multicopter Mission", "[multicopter]")
tester.execute_mission();
tester.wait_until_hovering();
tester.execute_rtl();
tester.wait_until_disarmed();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(60);
tester.wait_until_disarmed(until_disarmed_timeout);
}

4
test/mavsdk_tests/test_multicopter_offboard.cpp
View File

@ -47,7 +47,7 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
tester.wait_until_ready_local_position_only();
tester.store_home();
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(20);
std::chrono::seconds goto_timeout = std::chrono::seconds(30);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_land();
tester.wait_until_disarmed(goto_timeout);
@ -65,7 +65,7 @@ TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
tester.wait_until_ready_local_position_only();
tester.store_home();
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(20);
std::chrono::seconds goto_timeout = std::chrono::seconds(30);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);