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mavsdk tests: use tester sleep_for function

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the previously used std::this_thread::sleep_for is with respect to host
system time which is different from autopilot time if:

 - speed factor != 1
 - something runs slower than realtime regardless of speed factor
 - debugging or otherwise interrupting PX4 control code

tester.sleep_for (which already existed) correctly sleeps w.r.t.
px4/simulation time.
This commit is contained in:
Balduin
2025-03-18 10:25:38 +01:00
committed by Matthias Grob
parent d72c2cc378
commit c0100ed4e7
4 changed files with 36 additions and 42 deletions
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test/mavsdk_tests/autopilot_tester.h
+18 -19
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@@ -164,24 +164,6 @@ public:
CHECK(_param->set_param_int(param, value) == Param::Result::Success);
}
protected:
mavsdk::Param *getParams() const { return _param.get();}
mavsdk::Telemetry *getTelemetry() const { return _telemetry.get();}
mavsdk::ManualControl *getManualControl() const { return _manual_control.get();}
MavlinkPassthrough *getMavlinkPassthrough() const { return _mavlink_passthrough.get();}
std::shared_ptr<System> get_system() { return _mavsdk.systems().at(0);}
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
const Telemetry::GroundTruth &getHome()
{
// Check if home was stored before it is accessed
CHECK(_home.absolute_altitude_m != NAN);
CHECK(_home.latitude_deg != NAN);
CHECK(_home.longitude_deg != NAN);
return _home;
}
template<typename Rep, typename Period>
void sleep_for(std::chrono::duration<Rep, Period> duration)
{
@@ -207,6 +189,24 @@ protected:
}
}
protected:
mavsdk::Param *getParams() const { return _param.get();}
mavsdk::Telemetry *getTelemetry() const { return _telemetry.get();}
mavsdk::ManualControl *getManualControl() const { return _manual_control.get();}
MavlinkPassthrough *getMavlinkPassthrough() const { return _mavlink_passthrough.get();}
std::shared_ptr<System> get_system() { return _mavsdk.systems().at(0);}
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
const Telemetry::GroundTruth &getHome()
{
// Check if home was stored before it is accessed
CHECK(_home.absolute_altitude_m != NAN);
CHECK(_home.latitude_deg != NAN);
CHECK(_home.longitude_deg != NAN);
return _home;
}
private:
mavsdk::Mission::MissionItem create_mission_item(
const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate,
@@ -282,7 +282,6 @@ private:
}
mavsdk::Mavsdk _mavsdk{};
std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Failure> _failure{};