mavsdk_tests: Add integration tests for figure of 8

2026-10-21 01:23:34 +08:00 · 2023-10-31 15:57:59 -04:00
parent 8edd7ce2c1
commit e3473a0f90
6 changed files with 329 additions and 0 deletions
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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+ *
+ ****************************************************************************/
+
+#include "autopilot_tester_figure_eight.h"
+
+#include <chrono>
+#include <thread>
+
+TEST_CASE("Figure eight execution clockwise", "[vtol]")
+{
+	AutopilotTesterFigureEight tester;
+	tester.connect(connection_url);
+	tester.wait_until_ready();
+	tester.store_home();
+	const float takeoff_altitude = 20.f;
+	tester.set_takeoff_altitude(takeoff_altitude);
+	tester.arm();
+	tester.takeoff();
+	tester.wait_until_hovering();
+	tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(30));
+	tester.transition_to_fixedwing();
+	tester.wait_until_fixedwing(std::chrono::seconds(5));
+	std::this_thread::sleep_for(std::chrono::seconds(1));
+	tester.set_figure_eight(150., 50., 0., 200., 0., 20.);
+	tester.execute_figure_eight();
+	tester.check_tracks_figure_eight(std::chrono::seconds(60), 10.);
+	// tester.check_receive_execution_status(std::chrono::seconds(
+	// 		5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk
+}
+
+TEST_CASE("Figure eight execution counterclockwise", "[vtol]")
+{
+	AutopilotTesterFigureEight tester;
+	tester.connect(connection_url);
+	tester.wait_until_ready();
+	tester.store_home();
+	const float takeoff_altitude = 20.f;
+	tester.set_takeoff_altitude(takeoff_altitude);
+	tester.arm();
+	tester.takeoff();
+	tester.wait_until_hovering();
+	tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(30));
+	tester.transition_to_fixedwing();
+	tester.wait_until_fixedwing(std::chrono::seconds(5));
+	std::this_thread::sleep_for(std::chrono::seconds(1));
+	tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.);
+	tester.execute_figure_eight();
+	tester.check_tracks_figure_eight(std::chrono::seconds(60), 10.);
+	// tester.check_receive_execution_status(std::chrono::seconds(
+	// 		5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk.
+}