From bc1960ef2b21e9a5ddb87e9d8e7c1450f914a153 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 27 May 2020 13:19:45 +0200 Subject: [PATCH] mavsdk_tests: make offboard tests more accurate By making the acceptance radius smaller we should potentially also be more accurate while landing and fail less. --- test/mavsdk_tests/test_multicopter_offboard.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/test/mavsdk_tests/test_multicopter_offboard.cpp b/test/mavsdk_tests/test_multicopter_offboard.cpp index 0f4f8f688c..88f7fa881d 100644 --- a/test/mavsdk_tests/test_multicopter_offboard.cpp +++ b/test/mavsdk_tests/test_multicopter_offboard.cpp @@ -48,7 +48,7 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]") tester.store_home(); tester.arm(); std::chrono::seconds goto_timeout = std::chrono::seconds(10); - tester.offboard_goto(takeoff_position, 0.5f, goto_timeout); + tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); tester.offboard_land(); tester.wait_until_disarmed(goto_timeout); tester.check_home_within(1.0f); @@ -66,11 +66,11 @@ TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]") tester.store_home(); tester.arm(); std::chrono::seconds goto_timeout = std::chrono::seconds(10); - tester.offboard_goto(takeoff_position, 0.5f, goto_timeout); - tester.offboard_goto(setpoint_1, 1.0f, goto_timeout); - tester.offboard_goto(setpoint_2, 1.0f, goto_timeout); - tester.offboard_goto(setpoint_3, 1.0f, goto_timeout); - tester.offboard_goto(takeoff_position, 0.2f, goto_timeout); + tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); + tester.offboard_goto(setpoint_1, 0.1f, goto_timeout); + tester.offboard_goto(setpoint_2, 0.1f, goto_timeout); + tester.offboard_goto(setpoint_3, 0.1f, goto_timeout); + tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); tester.offboard_land(); tester.wait_until_disarmed(goto_timeout); tester.check_home_within(1.0f);