fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 15:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavsdk_tests: consolidate level of abstraction

Browse Source 
This moves the CHECK/REQUIRE inside of AutopilotTester.
This commit is contained in:
Julian Oes
2020-03-18 17:57:41 +00:00
committed by Nuno Marques
parent 6a4a4bd0d6
commit a5d1ce91e4
3 changed files with 32 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/test_multicopter_offboard.cpp
+4 -6
View File
@@ -17,13 +17,12 @@ TEST_CASE("Takeoff and Land (Multicopter offboard)", "[multicopter_offboard]")
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.request_ground_truth();
Telemetry::GroundTruth home = tester.get_ground_truth_position();
tester.store_home();
tester.arm();
tester.offboard_goto(takeoff_position, 0.5f);
tester.offboard_land();
tester.wait_until_disarmed();
REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 0.5f));
tester.check_home_within(0.5f);
}
TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
@@ -35,8 +34,7 @@ TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.request_ground_truth();
Telemetry::GroundTruth home = tester.get_ground_truth_position();
tester.store_home();
tester.arm();
tester.offboard_goto(takeoff_position, 0.5f);
tester.offboard_goto(setpoint_1, 1.0f);
@@ -45,5 +43,5 @@ TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
tester.offboard_goto(takeoff_position, 0.2f);
tester.offboard_land();
tester.wait_until_disarmed();
REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 1.0f));
tester.check_home_within(1.0f);
}