From bbef07bc8052207ffdbc8b6b2bdacf696a86b2b4 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 6 Aug 2020 08:01:30 +0200 Subject: [PATCH] mavsdk_tests: init RC with throttle centered --- test/mavsdk_tests/autopilot_tester.cpp | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/test/mavsdk_tests/autopilot_tester.cpp b/test/mavsdk_tests/autopilot_tester.cpp index 2df6fc552e..fc18d15af0 100644 --- a/test/mavsdk_tests/autopilot_tester.cpp +++ b/test/mavsdk_tests/autopilot_tester.cpp @@ -445,12 +445,14 @@ void AutopilotTester::check_mission_item_speed_above(int item_index, float min_s void AutopilotTester::fly_forward_in_posctl() { - // Send something to make sure RC is available. - CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.f, 0.f) == ManualControl::Result::Success); - CHECK(_manual_control->start_position_control() == ManualControl::Result::Success); - const unsigned manual_control_rate_hz = 50; + // Send something to make sure RC is available. + for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { + CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success); + std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz))); + } + // Climb up for 5 seconds for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success); @@ -476,12 +478,16 @@ void AutopilotTester::fly_forward_in_posctl() void AutopilotTester::fly_forward_in_altctl() { - // Send something to make sure RC is available. - CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.f, 0.f) == ManualControl::Result::Success); - CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success); - const unsigned manual_control_rate_hz = 50; + // Send something to make sure RC is available. + for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { + CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success); + std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz))); + } + + CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success); + // Climb up for 5 seconds for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);