Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2025-12-09 04:01:49 +08:00
Code Issues Actions 8 Packages Projects Releases Wiki Activity

mavsdk_tests: test for losing mag during mission

Browse Source
This commit is contained in:
Julian Oes
2020-06-26 11:25:41 +02:00
committed by Daniel Agar
parent ef7e4531f9
commit 8d6ebf15b6
3 changed files with 47 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
test/mavsdk_tests/autopilot_tester.cpp
View File

@@ -290,6 +290,7 @@ void AutopilotTester::execute_mission_and_lose_gps()
prom.set_value();
});
// We expect that a blind land is performed.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto flight_mode = _telemetry->flight_mode();
@@ -299,6 +300,37 @@ void AutopilotTester::execute_mission_and_lose_gps()
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
}
void AutopilotTester::execute_mission_and_lose_mag()
{
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
std::promise<void> prom;
auto fut = prom.get_future();
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
if (progress.current == 1) {
CHECK(_failure->inject(Failure::FailureUnit::SensorMag, Failure::FailureType::Off)
== Failure::Result::Success);
}
});
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
// We except the mission to continue without mag just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
}
CoordinateTransformation AutopilotTester::get_coordinate_transformation()
{
const auto home = _telemetry->home();

1
test/mavsdk_tests/autopilot_tester.h
View File

@@ -78,6 +78,7 @@ public:
void prepare_straight_mission(MissionOptions mission_options);
void execute_mission();
void execute_mission_and_lose_gps();
void execute_mission_and_lose_mag();
void execute_rtl();
void offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m = 0.3f,
std::chrono::seconds timeout_duration = std::chrono::seconds(60));

14
test/mavsdk_tests/test_multicopter_failsafe.cpp
View File

@@ -52,3 +52,17 @@ TEST_CASE("Land on GPS lost during mission", "[multicopter][vtol]")
tester.execute_mission_and_lose_gps();
tester.wait_until_disarmed();
}
TEST_CASE("Continue on mag lost during mission", "[multicopter][vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
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_mag();
tester.wait_until_disarmed();
}