mavsdk_tests: add multicopter alt hold test (#24396)

* mavsdk_tests: add multicopter alt hold test

* fix test filter

* increase altitude tolerance to 10m as a test

* reduce to 1m tolerance

* increase to 5m tolerance

* increase to 2m tolerance

* reduce back to 1m

* delay 60 seconds

* fix log upload

* fix ulog upload path

* make altitude tolerance in tester.wait_until_altitude configurable

* fix lambda

* default arg in declaration

* tighten up tolerance

.github/workflows/sitl_tests.yml

@@ -127,7 +127,7 @@ jobs:
           path: |
             logs/**/**/**/*.log
             logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
 
       - name: Look at Core files
         if: failure() && ${{ hashFiles('px4.core') != '' }}

test/mavsdk_tests/CMakeLists.txt

@@ -22,6 +22,7 @@ if(MAVSDK_FOUND)
         # follow-me needs a MAVSDK update:
         # https://github.com/mavlink/MAVSDK/pull/1770
         # autopilot_tester_follow_me.cpp
+        test_multicopter_basics.cpp
         test_multicopter_control_allocation.cpp
         test_multicopter_failure_injection.cpp
         test_multicopter_failsafe.cpp

test/mavsdk_tests/autopilot_tester.cpp

@@ -210,13 +210,13 @@ void AutopilotTester::wait_until_hovering()
 	wait_for_landed_state(Telemetry::LandedState::InAir, std::chrono::seconds(45));
 }
 
-void AutopilotTester::wait_until_altitude(float rel_altitude_m, std::chrono::seconds timeout)
+void AutopilotTester::wait_until_altitude(float rel_altitude_m, std::chrono::seconds timeout, float delta)
 {
 	auto prom = std::promise<void> {};
 	auto fut = prom.get_future();
 
-	_telemetry->subscribe_position([&prom, rel_altitude_m, this](Telemetry::Position new_position) {
+	_telemetry->subscribe_position([&prom, rel_altitude_m, delta, this](Telemetry::Position new_position) {
-		if (fabs(rel_altitude_m - new_position.relative_altitude_m) <= 0.5) {
+		if (fabs(rel_altitude_m - new_position.relative_altitude_m) <= delta) {
 			_telemetry->subscribe_position(nullptr);
 			prom.set_value();
 		}

test/mavsdk_tests/autopilot_tester.h

@@ -118,7 +118,7 @@ public:
 	void transition_to_multicopter();
 	void wait_until_disarmed(std::chrono::seconds timeout_duration = std::chrono::seconds(60));
 	void wait_until_hovering(); // TODO: name suggests, that function waits for drone velocity to be zero and not just drone in the air
-	void wait_until_altitude(float rel_altitude_m, std::chrono::seconds timeout);
+	void wait_until_altitude(float rel_altitude_m, std::chrono::seconds timeout, float delta = 0.5f);
 	void wait_until_fixedwing(std::chrono::seconds timeout);
 	void wait_until_speed_lower_than(float speed, std::chrono::seconds timeout);
 	void prepare_square_mission(MissionOptions mission_options);

test/mavsdk_tests/test_multicopter_basics.cpp

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <thread>
+#include <chrono>
+#include <math.h>
+
+#include "autopilot_tester.h"
+
+TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
+{
+	const float takeoff_altitude = 10.f;
+	const float altitude_tolerance = 0.1f;
+	const int delay_seconds = 60.f;
+
+	AutopilotTester tester;
+	tester.connect(connection_url);
+	tester.wait_until_ready();
+
+	tester.set_takeoff_altitude(takeoff_altitude);
+	tester.store_home();
+	// The sleep here is necessary for the takeoff altitude to be applied properly
+	std::this_thread::sleep_for(std::chrono::seconds(1));
+
+	// Takeoff
+	tester.arm();
+	tester.takeoff();
+	tester.wait_until_hovering();
+	tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30), altitude_tolerance);
+
+	// Monitor altitude and fail if it exceeds the tolerance
+	tester.start_checking_altitude(altitude_tolerance + 0.1);
+
+	std::this_thread::sleep_for(std::chrono::seconds(delay_seconds));
+}