fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 03:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavsdk_tests: remove hacks for rally points

Browse Source 
We can now just use MAVSDK to upload rally points.
This commit is contained in:
Julian Oes
2025-05-19 07:37:02 -07:00
committed by Ramon Roche
parent 66deae172d
commit e19d245355
4 changed files with 28 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/test_vtol_rtl.cpp
+7 -7
View File
@@ -105,7 +105,7 @@ TEST_CASE("RTL direct home without approaches", "[vtol]")
tester.set_rtl_appr_force(0);
// reupload rally points with approaches
tester.add_home_to_rally_point();
tester.upload_custom_mission(std::chrono::seconds(10));
tester.upload_rally_points();
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(4);
tester.wait_until_disarmed(std::chrono::seconds(150));
@@ -124,7 +124,7 @@ TEST_CASE("RTL direct home without approaches forced", "[vtol]")
tester.set_rtl_appr_force(1);
// reupload rally points with approaches
tester.add_home_to_rally_point();
tester.upload_custom_mission(std::chrono::seconds(10));
tester.upload_rally_points();
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(4);
tester.wait_until_disarmed(std::chrono::seconds(150));
@@ -142,7 +142,7 @@ TEST_CASE("RTL direct home with approaches", "[vtol]")
tester.set_rtl_type(0);
// reupload rally points with approaches
tester.add_home_with_approaches_to_rally_point();
tester.upload_custom_mission(std::chrono::seconds(10));
tester.upload_rally_points();
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(4);
tester.check_rtl_approaches(5., std::chrono::seconds(60));
@@ -161,7 +161,7 @@ TEST_CASE("RTL direct home not as rally point", "[vtol]")
tester.set_rtl_type(1);
// reupload rally points with approaches
tester.add_home_with_approaches_to_rally_point();
tester.upload_custom_mission(std::chrono::seconds(10));
tester.upload_rally_points();
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(2);
tester.wait_until_disarmed(std::chrono::seconds(150));
@@ -180,7 +180,7 @@ TEST_CASE("RTL direct rally without approaches", "[vtol]")
tester.set_rtl_appr_force(0);
// reupload rally points with approaches
tester.add_local_rally_point({100., -200.});
tester.upload_custom_mission(std::chrono::seconds(10));
tester.upload_rally_points();
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(3);
tester.wait_until_disarmed(std::chrono::seconds(150));
@@ -200,7 +200,7 @@ TEST_CASE("RTL direct rally without approaches forced", "[vtol]")
tester.set_rtl_appr_force(1);
// reupload rally points with approaches
tester.add_local_rally_point({100., -2000.});
tester.upload_custom_mission(std::chrono::seconds(10));
tester.upload_rally_points();
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(3);
tester.wait_until_disarmed(std::chrono::seconds(150));
@@ -219,7 +219,7 @@ TEST_CASE("RTL direct rally with approaches", "[vtol]")
tester.set_rtl_appr_force(0);
// reupload rally points with approaches
tester.add_local_rally_with_approaches_point({100., -200.});
tester.upload_custom_mission(std::chrono::seconds(10));
tester.upload_rally_points();
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(3);
tester.check_rtl_approaches(5., std::chrono::seconds(60));