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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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75bb25a44c
wait_until_altitude() checks for absolute altitude being close so checking for 1m below the setpoint can fail if the speedup results in no sample inside the altitude window being checked. Ideally the test could check if the takeoff is done directly instead of comparing altitudes in the first place.
84 lines
3.6 KiB
C++
84 lines
3.6 KiB
C++
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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****************************************************************************/
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#include "autopilot_tester_figure_eight.h"
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#include <chrono>
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#include <thread>
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TEST_CASE("Figure eight execution clockwise", "[vtol]")
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{
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AutopilotTesterFigureEight tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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const float takeoff_altitude = 20.f;
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tester.set_takeoff_altitude(takeoff_altitude);
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std::this_thread::sleep_for(std::chrono::seconds(3));
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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));
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tester.transition_to_fixedwing();
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tester.wait_until_fixedwing(std::chrono::seconds(5));
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std::this_thread::sleep_for(std::chrono::seconds(1));
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tester.set_figure_eight(150., 50., 0., 200., 0., 20.);
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tester.execute_figure_eight();
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tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.);
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// tester.check_receive_execution_status(std::chrono::seconds(
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// 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk
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}
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TEST_CASE("Figure eight execution counterclockwise", "[vtol]")
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{
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AutopilotTesterFigureEight tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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const float takeoff_altitude = 20.f;
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tester.set_takeoff_altitude(takeoff_altitude);
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std::this_thread::sleep_for(std::chrono::seconds(3));
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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));
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tester.transition_to_fixedwing();
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tester.wait_until_fixedwing(std::chrono::seconds(5));
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std::this_thread::sleep_for(std::chrono::seconds(1));
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tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.);
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tester.execute_figure_eight();
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tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.);
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// tester.check_receive_execution_status(std::chrono::seconds(
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// 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk.
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}
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