Mirrors_Framework/PX4-Autopilot
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SITL: enable failure command (SYS_FAILURE_EN=1)

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This commit is contained in:
Beat Küng
2022-06-03 12:34:53 +02:00
parent 56faaae959
commit 8bf18e31be
3 changed files with 8 additions and 0 deletions
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2
ROMFS/px4fmu_common/init.d-posix/rcS
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@@ -154,6 +154,8 @@ param set-default SDLOG_DIRS_MAX 7
param set-default TRIG_INTERFACE 3 param set-default TRIG_INTERFACE 3
param set-default SYS_FAILURE_EN 1
# Adapt timeout parameters if simulation runs faster or slower than realtime. # Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc) COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)

5
test/mavsdk_tests/autopilot_tester.h
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@@ -139,6 +139,11 @@ public:
// Blocking call to get the drone's current position in NED frame // Blocking call to get the drone's current position in NED frame
std::array<float, 3> get_current_position_ned(); std::array<float, 3> get_current_position_ned();
void set_param_int(const std::string &param, int32_t value)
{
CHECK(_param->set_param_int(param, value) == Param::Result::Success);
}
protected: protected:
mavsdk::Param *getParams() const { return _param.get();} mavsdk::Param *getParams() const { return _param.get();}
mavsdk::Telemetry *getTelemetry() const { return _telemetry.get();} mavsdk::Telemetry *getTelemetry() const { return _telemetry.get();}

1
test/mavsdk_tests/test_multicopter_failure_injection.cpp
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@@ -41,6 +41,7 @@ TEST_CASE("Failure Injection - Reject mid-air when it is disabled", "[multicopte
AutopilotTesterFailure tester; AutopilotTesterFailure tester;
tester.connect(connection_url); tester.connect(connection_url);
tester.wait_until_ready(); tester.wait_until_ready();
tester.set_param_int("SYS_FAILURE_EN", 0);
tester.arm(); tester.arm();
tester.takeoff(); tester.takeoff();
tester.wait_until_hovering(); tester.wait_until_hovering();