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40 Commits
Author SHA1 Message Date
benjinneandJulian Oes 06a91ec752 Improve offboard failsafe (#18160) 
* state_machine_helper: improve offboard failsafe

* state_machine_helper: add missing parameter to set_link_loss_nav_state

* state_machine_helper: fix no rc and offboard reason

* Fix offboard test by enabling rcl_except

* mavros_test fix offboard_posctl_test with rcl_except

* autopilot_tester make RcLossException bits explicit

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester change rcl_except to rc_loss_exception

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester fix rc_loss_exception renaming errors

Co-authored-by: Julian Oes <julian@oes.ch>
 2021-09-08 18:19:53 +02:00
Julian Oes cd66a79747 mavsdk_tests: move waypoints to vehicle position 
This way it shouldn't matter where the test is run.
 2021-04-06 11:35:18 -04:00
Julian Oes d714c2faec mavsdk_tests: add VTOL mission tests 
This adds VTOL mission tests to the CI integration tests.
This depends on MAVSDK v0.38.0.
 2021-04-06 11:35:18 -04:00
Julian Oes 1e88939605 mavsdk_tests: report speed factor every second 
This helps in debugging slow CI.
 2021-04-06 11:35:18 -04:00
Julian Oes 46e75ebddb mavsdk_tests: remove leftover debug line 2021-02-17 18:13:14 +01:00
Julian Oes 2315618b85 mavsdk_tests: use autopilot timestamps to sleep 
This way we should be able to avoid some of the timeouts happening on
the PX4 side if MAVSDK doesn't send setpoints in time.
 2021-02-16 17:07:21 +01:00
Julian Oes c1de27acf7 mavsdk_tests: use more conservative speed_factor 2021-02-16 17:07:21 +01:00
Julian Oes 0ebb8c6981 mavsdk_tests: use microseconds to avoid sleep(0) 2021-02-16 17:07:21 +01:00
Julian Oes 4184c204c4 autopilot_tester: don't poll mission progress 
Instead use subscription here as well in order not to miss an update.
 2021-02-11 22:25:07 +01:00
Julian Oes 176d932f23 mavsdk_tests: prevent missing updates 
It seems like we are often missing updates from topics like flight mode
or in air state, both topics that are sent out infrequenctly e.g. at 1
Hz. Therefore, instead of polling for that data we should probably
subscribe to the updates and that way get notified of each an every
update.

For instance this should prevent the case where we miss the mode change
from mission to descend and back to mission once landed and disarmed.
 2021-02-10 16:37:02 -05:00
Julian Oes e592bed7d3 mavsdk_tests: use timestamp from attitude field 
The flight_information field was not updated often enough which lead
to timeouts.
 2021-02-09 11:32:41 +01:00
Julian Oes 397fa84cd0 mavsdk_tests: add time in front of debug lines 2021-02-09 11:32:41 +01:00
Lorenz Meier fda63f802e Tone alarm: Adjust log levels 
The earlier log levels represented normal operation scenarios as errors, this aligns the log levels.
 2020-12-31 01:05:30 +01:00
Lorenz Meier 3cc53f551d MAVSDK tests: Use full system timeout off 
Depending on loop iterations for timeouts is not accurate, as usleep behavior depends on the system load and asking for a 0 ms sleep can potentially return immediately.
 2020-12-31 01:05:30 +01:00
Daniel Agar 756609c3e8 mavsdk_tests: relax corridor radius default for missions 2020-11-11 19:16:39 -05:00
Julian Oes 3135b94980 mavsdk_tests: use PX4 time for timeouts 
This way we are less dependent on CPU load of the host.
 2020-09-16 12:51:56 -04:00
Julian Oes ca0f26a003 mavsdk_tests: added posctl/altctl test 2020-09-16 12:51:56 -04:00
Julian Oes a5a577a6c4 mavsdk_tests: use speed factor, increase timeouts 
We had not actually properly adjusted the timeout to the lockstep speed
factor. Once we did that, we had to increase the timeouts quite a bit to
have the tests pass.
 2020-09-16 12:51:56 -04:00
Julian Oes ed357cf356 mavsdk_tests: move math things to separate header 2020-09-16 12:51:56 -04:00
Julian Oes 1eaceb17dc mavsdk_tests: adjust timeouts by lockstep speed up 2020-09-16 12:51:56 -04:00
Julian Oes 20621e6744 mavsdk_tests: add tests for GPS as height source 2020-09-16 12:51:56 -04:00
Julian Oes c31246e13a mavsdk_tests: add test for stuck mag 2020-09-16 12:51:56 -04:00
Julian Oes afcfa2fbe0 mavsdk_tests: check for stuck baro 2020-09-16 12:51:56 -04:00
Julian Oes c4efcbf895 mavsdk_tests: check for baro failure in mission 2020-09-16 12:51:56 -04:00
Julian Oes 8d6ebf15b6 mavsdk_tests: test for losing mag during mission 2020-09-16 12:51:56 -04:00
Julian Oes 3c499fc3a2 mavsdk_tests: add first GPS lost failsafe test 2020-09-16 12:51:56 -04:00
Julian Oes 4ad7ea6c1a mavsdk_tests: increase the poll time resolution 
With only 10 steps for e.g. 60 seconds we are likely to miss updates.
 2020-07-15 09:38:06 -04:00
Julian Kent ff4be5d815 Set rate when subscribing to velocity, specify units 2020-07-14 11:34:14 +02:00
Julian Kent e6c5771c59 Add 'corridor check' which makes sure 3D tracking is along mission 2020-07-14 11:34:14 +02:00
Julian Kent db361d7a59 Add straight-line MAVSDK test 2020-07-14 11:34:14 +02:00
Julian Oes be4e253e63 mavsdk_tests: bump library from v0.24.0 to v0.27.0 2020-06-11 15:18:57 +02:00
Julian Oes dd95498379 mavsdk_tests: at normal speed RTL can take a while 2020-05-29 11:46:14 +02:00
Julian Oes d43e4d88c3 mavsdk_tests: wait until home is set properly 
Otherwise we might have NaN stored as home.
 2020-05-29 11:46:14 +02:00
kamilritz 5bd0df422d Speed up mavsdk sitl tests 2020-05-06 09:25:03 +02:00
Julian Oes b5048a3414 mavsdk_tests: add header and fix style 2020-03-18 17:57:41 +00:00
Julian Oes fb5b05ec39 mavsdk_tests: add missing unit 2020-03-18 17:57:41 +00:00
Julian Oes a5d1ce91e4 mavsdk_tests: consolidate level of abstraction 
This moves the CHECK/REQUIRE inside of AutopilotTester.
 2020-03-18 17:57:41 +00:00
Lorenz MeierJulian Oeskritz
 		eb50e89d87 Add flow tests to MAVSDK tests (#14039) 
* 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>
 2020-01-30 11:57:48 +01:00
Lorenz Meier 7b44f5d069 Tests: Add VTOL test 
This is a first initial VTOL test.
 2020-01-28 08:59:25 +01:00
Julian Oes 956bd1b7b1 Move mavsdk_tests into test 2019-12-26 10:16:58 +01:00