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mavsdk figure 8 test: Increase time of timeout

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This commit is contained in:
Konrad
2023-11-22 17:56:14 +01:00
committed by Daniel Agar
parent eefc6a0027
commit 9387de8282
1 changed files with 6 additions and 4 deletions
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10
test/mavsdk_tests/test_vtol_figure_eight.cpp
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@@ -44,16 +44,17 @@ TEST_CASE("Figure eight execution clockwise", "[vtol]")
tester.store_home(); tester.store_home();
const float takeoff_altitude = 20.f; const float takeoff_altitude = 20.f;
tester.set_takeoff_altitude(takeoff_altitude); tester.set_takeoff_altitude(takeoff_altitude);
std::this_thread::sleep_for(std::chrono::seconds(3));
tester.arm(); tester.arm();
tester.takeoff(); tester.takeoff();
tester.wait_until_hovering(); 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.transition_to_fixedwing();
tester.wait_until_fixedwing(std::chrono::seconds(5)); tester.wait_until_fixedwing(std::chrono::seconds(5));
std::this_thread::sleep_for(std::chrono::seconds(1)); std::this_thread::sleep_for(std::chrono::seconds(1));
tester.set_figure_eight(150., 50., 0., 200., 0., 20.); tester.set_figure_eight(150., 50., 0., 200., 0., 20.);
tester.execute_figure_eight(); 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( // 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 // 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(); tester.store_home();
const float takeoff_altitude = 20.f; const float takeoff_altitude = 20.f;
tester.set_takeoff_altitude(takeoff_altitude); tester.set_takeoff_altitude(takeoff_altitude);
std::this_thread::sleep_for(std::chrono::seconds(3));
tester.arm(); tester.arm();
tester.takeoff(); tester.takeoff();
tester.wait_until_hovering(); 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.transition_to_fixedwing();
tester.wait_until_fixedwing(std::chrono::seconds(5)); tester.wait_until_fixedwing(std::chrono::seconds(5));
std::this_thread::sleep_for(std::chrono::seconds(1)); std::this_thread::sleep_for(std::chrono::seconds(1));
tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.); tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.);
tester.execute_figure_eight(); 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( // 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. // 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk.
} }