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MAVSDK test: increase offboard position threshold

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This is a workaround to hotfix CI but the root cause is #22792
(MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
This commit is contained in:
Matthias Grob
2024-02-22 15:29:13 +01:00
parent 9b122adae4
commit f602228048
1 changed files with 8 additions and 7 deletions
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test/mavsdk_tests/test_multicopter_offboard.cpp
+8 -7
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@@ -34,6 +34,7 @@
#include "autopilot_tester.h" #include "autopilot_tester.h"
#include <chrono> #include <chrono>
static constexpr float acceptance_radius = 0.3f;
TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]") TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
{ {
@@ -45,7 +46,7 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard); tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
tester.arm(); tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(90); std::chrono::seconds goto_timeout = std::chrono::seconds(90);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
tester.offboard_land(); tester.offboard_land();
tester.wait_until_disarmed(std::chrono::seconds(120)); tester.wait_until_disarmed(std::chrono::seconds(120));
tester.check_home_within(1.0f); tester.check_home_within(1.0f);
@@ -63,12 +64,12 @@ TEST_CASE("Offboard position control", "[multicopter][offboard]")
tester.store_home(); tester.store_home();
tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard); tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
tester.arm(); tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(120); std::chrono::seconds goto_timeout = std::chrono::seconds(10);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
tester.offboard_goto(setpoint_1, 0.1f, goto_timeout); tester.offboard_goto(setpoint_1, acceptance_radius, goto_timeout);
tester.offboard_goto(setpoint_2, 0.1f, goto_timeout); tester.offboard_goto(setpoint_2, acceptance_radius, goto_timeout);
tester.offboard_goto(setpoint_3, 0.1f, goto_timeout); tester.offboard_goto(setpoint_3, acceptance_radius, goto_timeout);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout); tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
tester.offboard_land(); tester.offboard_land();
tester.wait_until_disarmed(std::chrono::seconds(120)); tester.wait_until_disarmed(std::chrono::seconds(120));
tester.check_home_within(1.0f); tester.check_home_within(1.0f);