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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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4227e2b7e7
Current threshhold has no margins of errors with the set acceptance radius. Increase corridor radius by 5m. Increase time to disarm for tailsitter test to pass. Rverse mission needs check tracks test disabled since mavsdk does not really work with mission has reverse order.
91 lines
3.5 KiB
C++
91 lines
3.5 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "autopilot_tester_rtl.h"
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TEST_CASE("Fly VTOL mission", "[vtol]")
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{
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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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan");
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tester.arm();
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tester.execute_mission_raw();
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tester.wait_until_disarmed();
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}
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TEST_CASE("RTL direct Home", "[vtol]")
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{
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AutopilotTesterRtl 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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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.wait_until_disarmed(std::chrono::seconds(90));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL with Mission Landing", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan");
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// Vehicle should follow the mission and use the mission landing
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tester.set_rtl_type(2);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.check_tracks_mission_raw(35.0f);
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tester.wait_until_disarmed(std::chrono::seconds(95));
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}
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TEST_CASE("RTL with Reverse Mission", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.set_takeoff_land_requirements(0);
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_without_landing.plan");
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// vehicle should follow the mission in reverse and land at the home position // TODO enable checks again if MAVSDK can handle mission in reverse order
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tester.set_rtl_type(2);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(6);
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//tester.check_tracks_mission_raw(35.0f);
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tester.wait_until_disarmed(std::chrono::seconds(90));
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}
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