Spiri
/
PX4-Autopilot
3
0
Fork 1
Code Issues Pull Requests Packages Projects Releases Wiki Activity

MAVSDK tests: shorten Position, Altitude control flights 

We get more than 5 meter away much quicker.
This commit is contained in:
Matthias Grob 2024-02-22 14:52:12 +01:00
parent 0cc4b41a51
commit 4e3bd4f196
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
test/mavsdk_tests/autopilot_tester.cpp
View File

@ -442,14 +442,14 @@ void AutopilotTester::fly_forward_in_posctl()
wait_until_ready();
arm();
// Climb up for 20 seconds
for (unsigned i = 0; i < 20 * manual_control_rate_hz; ++i) {
// Climb up for 5 seconds
for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
// Fly forward for 60 seconds
for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
// Fly forward for 10 seconds
for (unsigned i = 0; i < 10 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
@ -480,14 +480,14 @@ void AutopilotTester::fly_forward_in_altctl()
wait_until_ready();
arm();
// Climb up for 20 seconds
for (unsigned i = 0; i < 20 * manual_control_rate_hz; ++i) {
// Climb up for 5 seconds
for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}
// Fly forward for 60 seconds
for (unsigned i = 0; i < 60 * manual_control_rate_hz; ++i) {
// Fly forward for 10 seconds
for (unsigned i = 0; i < 10 * manual_control_rate_hz; ++i) {
CHECK(_manual_control->set_manual_control_input(0.5f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
}