fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 15:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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
2020-09-16 12:51:56 -04:00
committed by Daniel Agar
parent 4eb1ea10f0
commit a5a577a6c4
5 changed files with 78 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/autopilot_tester.cpp
+28 -15
View File
@@ -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(