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mavsdk_tests: check for stuck baro

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This commit is contained in:
Julian Oes
2020-09-16 12:51:56 -04:00
committed by Daniel Agar
parent a05ad9c64c
commit afcfa2fbe0
5 changed files with 57 additions and 2 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+28
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@@ -355,7 +355,35 @@ void AutopilotTester::execute_mission_and_lose_baro()
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}
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;
if (progress.current == 1) {
CHECK(_failure->inject(Failure::FailureUnit::SensorBaro, Failure::FailureType::Stuck)
== Failure::Result::Success);
}
});
std::promise<void> prom;
auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
// We except the mission to continue with a stuck baro just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}
CoordinateTransformation AutopilotTester::get_coordinate_transformation()