Mirrors_Framework/PX4-Autopilot
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test/mavsdk_tests: continue sending manual control between steps in fly_forward_in_posctl()/fly_forward_in_altctl()

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This commit is contained in:
Daniel Agar
2024-11-20 12:16:22 -05:00
committed by Ramon Roche
parent f8b34fd79d
commit 635e162a0c
1 changed files with 48 additions and 0 deletions
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test/mavsdk_tests/autopilot_tester.cpp
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@@ -452,8 +452,29 @@ void AutopilotTester::fly_forward_in_posctl()
} }
CHECK(_manual_control->start_position_control() == ManualControl::Result::Success); CHECK(_manual_control->start_position_control() == ManualControl::Result::Success);
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
store_home(); store_home();
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
wait_until_ready(); wait_until_ready();
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
arm(); arm();
// Climb up for 5 seconds // Climb up for 5 seconds
@@ -490,10 +511,37 @@ void AutopilotTester::fly_forward_in_altctl()
} }
CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success); CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success);
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
store_home(); store_home();
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
wait_until_ready(); wait_until_ready();
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
arm(); arm();
// Send something to make sure RC is available.
for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
// Climb up for 5 seconds // Climb up for 5 seconds
for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) { for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success); CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);