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mavsdk_tests: use speed factor, increase timeouts

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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
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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(