fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 15:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Initial stab at running MAVSDK tests with SIH and fix the broken parts O.O

Browse Source
This commit is contained in:
Matthias Grob
2026-02-03 19:51:17 +13:00
committed by Julian Oes
parent f29eb2ee32
commit debca7f517
8 changed files with 35 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/test_multicopter_basics.cpp
+7 -5
View File
@@ -40,8 +40,6 @@
TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
{
const float takeoff_altitude = 10.f;
const float altitude_tolerance = 0.2f;
const int delay_seconds = 60.f;
AutopilotTester tester;
tester.connect(connection_url);
@@ -52,14 +50,18 @@ TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
// The sleep here is necessary for the takeoff altitude to be applied properly
std::this_thread::sleep_for(std::chrono::seconds(1));
// Capture altitude before takeoff
std::array<float, 3> initial_position = tester.get_current_position_ned();
float ground_altitude = -initial_position[2];
// Takeoff
tester.arm();
tester.takeoff();
tester.wait_until_hovering();
tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30), altitude_tolerance);
tester.wait_until_altitude(ground_altitude + takeoff_altitude, std::chrono::seconds(15), 0.01f);
// Monitor altitude and fail if it exceeds the tolerance
tester.start_checking_altitude(altitude_tolerance + 0.1);
tester.start_checking_altitude(0.15);
std::this_thread::sleep_for(std::chrono::seconds(delay_seconds));
std::this_thread::sleep_for(std::chrono::seconds(15));
}