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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
c0100ed4e7
the previously used std::this_thread::sleep_for is with respect to host system time which is different from autopilot time if: - speed factor != 1 - something runs slower than realtime regardless of speed factor - debugging or otherwise interrupting PX4 control code tester.sleep_for (which already existed) correctly sleeps w.r.t. px4/simulation time.
84 lines
3.6 KiB
C++
84 lines
3.6 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 "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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tester.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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tester.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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tester.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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tester.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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