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mavsdk_tests: init RC with throttle centered

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This commit is contained in:
Julian Oes
2020-09-16 12:51:56 -04:00
committed by Daniel Agar
parent c26b769cc0
commit bbef07bc80
1 changed files with 14 additions and 8 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+14 -8
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@@ -445,12 +445,14 @@ void AutopilotTester::check_mission_item_speed_above(int item_index, float min_s
void AutopilotTester::fly_forward_in_posctl() 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; 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 // Climb up for 5 seconds
for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { 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); 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() 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; 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 // Climb up for 5 seconds
for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { 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); CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);