From 9387de8282daaae776a717d5ff1b6f4b82dd1e51 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 22 Nov 2023 17:56:14 +0100 Subject: [PATCH] mavsdk figure 8 test: Increase time of timeout --- test/mavsdk_tests/test_vtol_figure_eight.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/test/mavsdk_tests/test_vtol_figure_eight.cpp b/test/mavsdk_tests/test_vtol_figure_eight.cpp index 73fa94c013..cd4e061ec4 100644 --- a/test/mavsdk_tests/test_vtol_figure_eight.cpp +++ b/test/mavsdk_tests/test_vtol_figure_eight.cpp @@ -44,16 +44,17 @@ TEST_CASE("Figure eight execution clockwise", "[vtol]") tester.store_home(); const float takeoff_altitude = 20.f; tester.set_takeoff_altitude(takeoff_altitude); + std::this_thread::sleep_for(std::chrono::seconds(3)); tester.arm(); tester.takeoff(); tester.wait_until_hovering(); - tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(30)); + tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(60)); tester.transition_to_fixedwing(); tester.wait_until_fixedwing(std::chrono::seconds(5)); std::this_thread::sleep_for(std::chrono::seconds(1)); tester.set_figure_eight(150., 50., 0., 200., 0., 20.); tester.execute_figure_eight(); - tester.check_tracks_figure_eight(std::chrono::seconds(60), 10.); + tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.); // tester.check_receive_execution_status(std::chrono::seconds( // 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk } @@ -66,16 +67,17 @@ TEST_CASE("Figure eight execution counterclockwise", "[vtol]") tester.store_home(); const float takeoff_altitude = 20.f; tester.set_takeoff_altitude(takeoff_altitude); + std::this_thread::sleep_for(std::chrono::seconds(3)); tester.arm(); tester.takeoff(); tester.wait_until_hovering(); - tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(30)); + tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(60)); tester.transition_to_fixedwing(); tester.wait_until_fixedwing(std::chrono::seconds(5)); std::this_thread::sleep_for(std::chrono::seconds(1)); tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.); tester.execute_figure_eight(); - tester.check_tracks_figure_eight(std::chrono::seconds(60), 10.); + tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.); // tester.check_receive_execution_status(std::chrono::seconds( // 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk. }