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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/test_multicopter_mission.cpp
+28 -22
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);
}