Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-22 22:32:11 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

mavsdk_tests: make offboard tests more accurate

Browse Source 
By making the acceptance radius smaller we should potentially also be
more accurate while landing and fail less.
This commit is contained in:
Julian Oes
2020-05-27 13:19:45 +02:00
parent dd95498379
commit bc1960ef2b
1 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/test_multicopter_offboard.cpp
+6 -6
View File
@@ -48,7 +48,7 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
tester.store_home();
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(10);
tester.offboard_goto(takeoff_position, 0.5f, goto_timeout);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_land();
tester.wait_until_disarmed(goto_timeout);
tester.check_home_within(1.0f);
@@ -66,11 +66,11 @@ TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
tester.store_home();
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(10);
tester.offboard_goto(takeoff_position, 0.5f, goto_timeout);
tester.offboard_goto(setpoint_1, 1.0f, goto_timeout);
tester.offboard_goto(setpoint_2, 1.0f, goto_timeout);
tester.offboard_goto(setpoint_3, 1.0f, goto_timeout);
tester.offboard_goto(takeoff_position, 0.2f, goto_timeout);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_land();
tester.wait_until_disarmed(goto_timeout);
tester.check_home_within(1.0f);