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mavsdk_tests: ensure motor is stopped for motor failure test

This commit is contained in:
Beat Küng 2022-01-20 16:28:13 +01:00
parent b5a3c58a95
commit 0a9378e0f6
3 changed files with 27 additions and 0 deletions
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20
test/mavsdk_tests/autopilot_tester_failure.cpp
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@ -78,3 +78,23 @@ void AutopilotTesterFailure::inject_failure(mavsdk::Failure::FailureUnit failure
{
CHECK(_failure->inject(failure_unit, failure_type, instance) == expected_result);
}
void AutopilotTesterFailure::enable_actuator_output_status()
{
CHECK(getTelemetry()->set_rate_actuator_output_status(20.f) == Telemetry::Result::Success);
}
void AutopilotTesterFailure::ensure_motor_stopped(unsigned index, unsigned num_motors)
{
const Telemetry::ActuatorOutputStatus &status = getTelemetry()->actuator_output_status();
CHECK(status.active >= num_motors);
for (unsigned i = 0; i < num_motors; ++i) {
if (i == index) {
CHECK(status.actuator[i] <= 901.f);
} else { // ensure all others are still running
CHECK(status.actuator[i] >= 999.f);
}
}
}

3
test/mavsdk_tests/autopilot_tester_failure.h
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@ -52,6 +52,9 @@ public:
void set_param_ca_failure_mode(int value);
void set_param_com_act_fail_act(int value);
void enable_actuator_output_status();
void ensure_motor_stopped(unsigned index, unsigned num_motors);
void inject_failure(mavsdk::Failure::FailureUnit failure_unit, mavsdk::Failure::FailureType failure_type, int instance,
mavsdk::Failure::Result expected_result);
void connect(const std::string uri);

4
test/mavsdk_tests/test_multicopter_control_allocation.cpp
View File

@ -61,6 +61,7 @@ TEST_CASE("Control Allocation - Remove one motor", "[controlallocation]")
tester.set_rtl_altitude(flight_altitude);
tester.check_tracks_mission(5.f);
tester.store_home();
tester.enable_actuator_output_status();
std::this_thread::sleep_for(std::chrono::seconds(
1)); // This is necessary for the takeoff altitude to be applied properly
@ -74,12 +75,15 @@ TEST_CASE("Control Allocation - Remove one motor", "[controlallocation]")
// Motor failure mid-air
tester.start_checking_altitude(altitude_tolerance);
const int motor_instance = 1;
const unsigned num_motors = 6; // TODO: get from model
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off, motor_instance,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.ensure_motor_stopped(motor_instance - 1, num_motors);
tester.execute_mission();
tester.stop_checking_altitude();
tester.ensure_motor_stopped(motor_instance - 1, num_motors); // just to be sure
// RTL
tester.execute_rtl();