Mirrors_Framework/PX4-Autopilot
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mavsdk_tests: manual fly forward for slightly longer

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Daniel Agar
2020-11-11 16:01:03 -05:00
parent 756609c3e8
commit a8f665739d
1 changed files with 6 additions and 6 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+6 -6
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@@ -461,14 +461,14 @@ void AutopilotTester::fly_forward_in_posctl()
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz))); std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
} }
// Fly forward for 30 seconds // Fly forward for 60 seconds
for (unsigned i = 0; i < 30 * manual_control_rate_hz; ++i) { for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success); CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz))); std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
} }
// Descend until disarmed // Descend until disarmed
for (unsigned i = 0; i < 30 * manual_control_rate_hz; ++i) { for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.0f, 0.f) == ManualControl::Result::Success); CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.0f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz))); std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
@@ -496,14 +496,14 @@ void AutopilotTester::fly_forward_in_altctl()
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz))); std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
} }
// Fly forward for 30 seconds // Fly forward for 60 seconds
for (unsigned i = 0; i < 30 * manual_control_rate_hz; ++i) { for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success); CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz))); std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));
} }
// Descend until disarmed // Descend until disarmed
for (unsigned i = 0; i < 30 * manual_control_rate_hz; ++i) { for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.0f, 0.f) == ManualControl::Result::Success); CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.0f, 0.f) == ManualControl::Result::Success);
std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz))); std::this_thread::sleep_for(adjust_to_lockstep_speed(std::chrono::milliseconds(1000 / manual_control_rate_hz)));