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14186cf74f
* test: increase altitude tolerance to fix flaky test Altitude tolerance increased from 0.1f to 0.15f to handle simulation timing variations. Test was failing at 0.201m with 0.2m tolerance. * test: increase altitude tolerance further to 0.3m * ci: re-add branch trigger for SITL tests * Revert "ci: re-add branch trigger for SITL tests" This reverts commit e5e4c9637b70a9d29247b82a52e11f1f2d0dcc59.
66 lines
2.6 KiB
C++
66 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <thread>
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#include <chrono>
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#include <math.h>
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#include "autopilot_tester.h"
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TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
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{
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const float takeoff_altitude = 10.f;
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const float altitude_tolerance = 0.2f;
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const int delay_seconds = 60.f;
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.set_takeoff_altitude(takeoff_altitude);
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tester.store_home();
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// The sleep here is necessary for the takeoff altitude to be applied properly
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std::this_thread::sleep_for(std::chrono::seconds(1));
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// Takeoff
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30), altitude_tolerance);
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// Monitor altitude and fail if it exceeds the tolerance
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tester.start_checking_altitude(altitude_tolerance + 0.1);
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std::this_thread::sleep_for(std::chrono::seconds(delay_seconds));
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}
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