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Set rate when subscribing to velocity, specify units

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This commit is contained in:
Julian Kent
2020-07-14 11:34:14 +02:00
committed by Julian Kent
parent e6c5771c59
commit ff4be5d815
2 changed files with 6 additions and 4 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+5 -3
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@@ -246,14 +246,16 @@ void AutopilotTester::offboard_goto(const Offboard::PositionNedYaw &target, floa
std::cout << "Target position reached" << std::endl; std::cout << "Target position reached" << std::endl;
} }
void AutopilotTester::check_mission_item_speed_above(int item_index, float min_speed) void AutopilotTester::check_mission_item_speed_above(int item_index, float min_speed_m_s)
{ {
_telemetry->subscribe_velocity_ned([item_index, min_speed, this](Telemetry::VelocityNed velocity) {
_telemetry->set_rate_velocity_ned(10);
_telemetry->subscribe_velocity_ned([item_index, min_speed_m_s, this](Telemetry::VelocityNed velocity) {
float horizontal = std::hypot(velocity.north_m_s, velocity.east_m_s); float horizontal = std::hypot(velocity.north_m_s, velocity.east_m_s);
auto progress = _mission->mission_progress(); auto progress = _mission->mission_progress();
if (progress.current == item_index) { if (progress.current == item_index) {
CHECK(horizontal > min_speed); CHECK(horizontal > min_speed_m_s);
} }
}); });
} }
test/mavsdk_tests/autopilot_tester.h
+1 -1
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@@ -80,7 +80,7 @@ public:
std::chrono::seconds timeout_duration = std::chrono::seconds(60)); std::chrono::seconds timeout_duration = std::chrono::seconds(60));
void offboard_land(); void offboard_land();
void request_ground_truth(); void request_ground_truth();
void check_mission_item_speed_above(int item_index, float min_speed); void check_mission_item_speed_above(int item_index, float min_speed_m_s);
void check_tracks_mission(float corridor_radius_m = 1.0f); void check_tracks_mission(float corridor_radius_m = 1.0f);