Mirrors_Framework/PX4-Autopilot
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mavsdk_tests: add tests for GPS as height source

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This commit is contained in:
Julian Oes
2020-07-02 14:29:00 +02:00
committed by Daniel Agar
parent c31246e13a
commit 20621e6744
3 changed files with 71 additions and 3 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+12
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@@ -159,6 +159,18 @@ void AutopilotTester::set_takeoff_altitude(const float altitude_m)
CHECK(result.second == Approx(altitude_m)); CHECK(result.second == Approx(altitude_m));
} }
void AutopilotTester::set_height_source(AutopilotTester::HeightSource height_source)
{
switch (height_source) {
case HeightSource::Baro:
CHECK(_param->set_param_int("EKF2_HGT_MODE", 0) == Param::Result::Success);
break;
case HeightSource::Gps:
CHECK(_param->set_param_int("EKF2_HGT_MODE", 1) == Param::Result::Success);
}
}
void AutopilotTester::arm() void AutopilotTester::arm()
{ {
const auto result = _action->arm(); const auto result = _action->arm();
test/mavsdk_tests/autopilot_tester.h
+6
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@@ -61,12 +61,18 @@ public:
bool fly_through {false}; bool fly_through {false};
}; };
enum class HeightSource {
Baro,
Gps
};
void connect(const std::string uri); void connect(const std::string uri);
void wait_until_ready(); void wait_until_ready();
void wait_until_ready_local_position_only(); void wait_until_ready_local_position_only();
void store_home(); void store_home();
void check_home_within(float acceptance_radius_m); void check_home_within(float acceptance_radius_m);
void set_takeoff_altitude(const float altitude_m); void set_takeoff_altitude(const float altitude_m);
void set_height_source(HeightSource height_source);
void arm(); void arm();
void takeoff(); void takeoff();
void land(); void land();
test/mavsdk_tests/test_multicopter_failsafe.cpp
+53 -3
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@@ -39,10 +39,28 @@
#include "autopilot_tester.h" #include "autopilot_tester.h"
TEST_CASE("Land on GPS lost during mission", "[multicopter][vtol]") TEST_CASE("Land on GPS lost during mission (baro height mode)", "[multicopter][vtol]")
{ {
AutopilotTester tester; AutopilotTester tester;
tester.connect(connection_url); tester.connect(connection_url);
tester.set_height_source(AutopilotTester::HeightSource::Baro);
tester.wait_until_ready();
AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = true;
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_lose_gps();
tester.wait_until_disarmed();
}
TEST_CASE("Land on GPS lost during mission (GPS height mode)", "[multicopter][vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
tester.set_height_source(AutopilotTester::HeightSource::Gps);
tester.wait_until_ready(); tester.wait_until_ready();
AutopilotTester::MissionOptions mission_options; AutopilotTester::MissionOptions mission_options;
@@ -81,10 +99,11 @@ TEST_CASE("Continue on mag stuck during mission", "[multicopter][vtol]")
tester.wait_until_disarmed(); tester.wait_until_disarmed();
} }
TEST_CASE("Continue on baro lost during mission", "[multicopter][vtol]") TEST_CASE("Continue on baro lost during mission (baro height mode)", "[multicopter][vtol]")
{ {
AutopilotTester tester; AutopilotTester tester;
tester.connect(connection_url); tester.connect(connection_url);
tester.set_height_source(AutopilotTester::HeightSource::Baro);
tester.wait_until_ready(); tester.wait_until_ready();
AutopilotTester::MissionOptions mission_options; AutopilotTester::MissionOptions mission_options;
@@ -95,10 +114,41 @@ TEST_CASE("Continue on baro lost during mission", "[multicopter][vtol]")
tester.wait_until_disarmed(); tester.wait_until_disarmed();
} }
TEST_CASE("Continue on baro stuck during mission", "[multicopter][vtol]") TEST_CASE("Continue on baro lost during mission (GPS height mode)", "[multicopter][vtol]")
{ {
AutopilotTester tester; AutopilotTester tester;
tester.connect(connection_url); tester.connect(connection_url);
tester.set_height_source(AutopilotTester::HeightSource::Gps);
tester.wait_until_ready();
AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = true;
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_lose_baro();
tester.wait_until_disarmed();
}
TEST_CASE("Continue on baro stuck during mission (baro height mode)", "[multicopter][vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
tester.set_height_source(AutopilotTester::HeightSource::Baro);
tester.wait_until_ready();
AutopilotTester::MissionOptions mission_options;
mission_options.rtl_at_end = true;
tester.prepare_square_mission(mission_options);
tester.arm();
tester.execute_mission_and_get_baro_stuck();
tester.wait_until_disarmed();
}
TEST_CASE("Continue on baro stuck during mission (GPS height mode)", "[multicopter][vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
tester.set_height_source(AutopilotTester::HeightSource::Gps);
tester.wait_until_ready(); tester.wait_until_ready();
AutopilotTester::MissionOptions mission_options; AutopilotTester::MissionOptions mission_options;