Mirrors_Framework/PX4-Autopilot
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mavsdk_tests: use CHECK if we don't need to abort

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This commit is contained in:
Julian Oes
2020-03-06 12:45:45 +01:00
committed by Nuno Marques
parent 821f7c3cd9
commit 512faa6ebe
1 changed files with 8 additions and 8 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+8 -8
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@@ -146,8 +146,8 @@ void AutopilotTester::execute_mission()
CoordinateTransformation AutopilotTester::get_coordinate_transformation() CoordinateTransformation AutopilotTester::get_coordinate_transformation()
{ {
const auto home = _telemetry->home_position(); const auto home = _telemetry->home_position();
REQUIRE(std::isfinite(home.latitude_deg)); CHECK(std::isfinite(home.latitude_deg));
REQUIRE(std::isfinite(home.longitude_deg)); CHECK(std::isfinite(home.longitude_deg));
return CoordinateTransformation({home.latitude_deg, home.longitude_deg}); return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
} }
@@ -172,7 +172,7 @@ void AutopilotTester::offboard_goto(const Offboard::PositionNEDYaw& target, floa
{ {
_offboard->set_position_ned(target); _offboard->set_position_ned(target);
REQUIRE(_offboard->start() == Offboard::Result::SUCCESS); REQUIRE(_offboard->start() == Offboard::Result::SUCCESS);
REQUIRE(poll_condition_with_timeout( CHECK(poll_condition_with_timeout(
[=]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration)); [=]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration));
std::cout << "Target position reached" << std::endl; std::cout << "Target position reached" << std::endl;
} }
@@ -204,7 +204,7 @@ bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::Pos
void AutopilotTester::request_ground_truth() void AutopilotTester::request_ground_truth()
{ {
REQUIRE(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::SUCCESS); CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::SUCCESS);
std::this_thread::sleep_for(std::chrono::milliseconds(100)); std::this_thread::sleep_for(std::chrono::milliseconds(100));
} }
@@ -215,15 +215,15 @@ Telemetry::GroundTruth AutopilotTester::get_ground_truth_position()
bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m) bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m)
{ {
REQUIRE(std::isfinite(target_pos.latitude_deg)); CHECK(std::isfinite(target_pos.latitude_deg));
REQUIRE(std::isfinite(target_pos.longitude_deg)); CHECK(std::isfinite(target_pos.longitude_deg));
using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate; using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate;
using LocalCoordinate = CoordinateTransformation::LocalCoordinate; using LocalCoordinate = CoordinateTransformation::LocalCoordinate;
CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg}); CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg});
Telemetry::GroundTruth current_pos = _telemetry->ground_truth(); Telemetry::GroundTruth current_pos = _telemetry->ground_truth();
REQUIRE(std::isfinite(current_pos.latitude_deg)); CHECK(std::isfinite(current_pos.latitude_deg));
REQUIRE(std::isfinite(current_pos.longitude_deg)); CHECK(std::isfinite(current_pos.longitude_deg));
LocalCoordinate local_pos= ct.local_from_global(GlobalCoordinate{current_pos.latitude_deg, current_pos.longitude_deg}); LocalCoordinate local_pos= ct.local_from_global(GlobalCoordinate{current_pos.latitude_deg, current_pos.longitude_deg});
return sq(local_pos.north_m) + sq(local_pos.east_m) < sq(acceptance_radius_m); return sq(local_pos.north_m) + sq(local_pos.east_m) < sq(acceptance_radius_m);