fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 18:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add flow tests to MAVSDK tests (#14039)

Browse Source 
* workflows: remove unneeded pip dep and comments

* mavsdk_tests: simple test using flow/offboard

This adds a first proof of concept of a test using flow and offboard.

* Flow MAVSDK test: check against ground truth

* CleanUp

* workflows: use latest docker image with psutil

* mavsdk_tests: fix PEP8 issues

* Add VTOL CI tests back

* switch to non-rendering flow mockup

* workflows: install mavsdk from GitHub release .deb

* Add vision test and disable VTOL temporarlly

* Fist draft of combining test coverage and test in one workflow

* Add VTOL mavsdk tests back in CI

Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: kritz <kritz@ethz.ch>
This commit is contained in:
Lorenz Meier
2020-01-30 11:57:48 +01:00
committed by GitHub
co-authored by Julian Oes kritz
parent a141e4062b
commit eb50e89d87
7 changed files with 209 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/test_multicopter_offboard.cpp
+49
View File
@@ -0,0 +1,49 @@
//
// Multicopter mission test.
//
// Author: Julian Oes <julian@oes.ch>
#include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include <iostream>
#include <string>
#include "autopilot_tester.h"
TEST_CASE("Takeoff and Land (Multicopter offboard)", "[multicopter_offboard]")
{
AutopilotTester tester;
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.request_ground_truth();
Telemetry::GroundTruth home = tester.get_ground_truth_position();
tester.arm();
tester.offboard_goto(takeoff_position, 0.5f);
tester.offboard_land();
tester.wait_until_disarmed();
REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 0.5f));
}
TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
{
AutopilotTester tester;
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.request_ground_truth();
Telemetry::GroundTruth home = tester.get_ground_truth_position();
tester.arm();
tester.offboard_goto(takeoff_position, 0.5f);
tester.offboard_goto(setpoint_1, 1.0f);
tester.offboard_goto(setpoint_2, 1.0f);
tester.offboard_goto(setpoint_3, 1.0f);
tester.offboard_goto(takeoff_position, 0.2f);
tester.offboard_land();
tester.wait_until_disarmed();
REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 1.0f));
}