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mavsdk_tests: check for stuck baro

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This commit is contained in:
Julian Oes 2020-06-26 14:48:53 +02:00 committed by Daniel Agar
parent a05ad9c64c
commit afcfa2fbe0
5 changed files with 57 additions and 2 deletions
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1
src/modules/simulator/simulator.h
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@ -257,6 +257,7 @@ private:
bool _accel_blocked{false};
bool _gyro_blocked{false};
bool _baro_blocked{false};
bool _baro_stuck{false};
bool _mag_blocked{false};
bool _gps_blocked{false};
bool _airspeed_blocked{false};

15
src/modules/simulator/simulator_mavlink.cpp
View File

@ -253,8 +253,14 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
// baro
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_baro_blocked) {
_px4_baro_0.update(time, sensors.abs_pressure);
_px4_baro_1.update(time, sensors.abs_pressure);
if (_baro_stuck) {
_px4_baro_0.update(time, _px4_baro_0.get().pressure);
_px4_baro_1.update(time, _px4_baro_1.get().pressure);
} else {
_px4_baro_0.update(time, sensors.abs_pressure);
_px4_baro_1.update(time, sensors.abs_pressure);
}
}
// differential pressure
@ -995,6 +1001,11 @@ void Simulator::check_failure_injections()
supported = true;
_baro_blocked = true;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_STUCK) {
supported = true;
_baro_stuck = true;
_baro_blocked = false;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
supported = true;
_baro_blocked = false;