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autopilot_tester: for mission end timeout check take speed factor into account 

And increase the (simulation time) timeouts.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-02-27 13:25:17 +01:00
parent c5f226761e
commit 2f5c32e500
1 changed files with 18 additions and 4 deletions
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22
test/mavsdk_tests/autopilot_tester.cpp
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@ -271,9 +271,16 @@ void AutopilotTester::execute_mission()
REQUIRE(poll_condition_with_timeout(
[this]() { return _mission->start_mission() == Mission::Result::Success; }, std::chrono::seconds(3)));
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
float speed_factor = 1.0f;
wait_for_mission_finished(std::chrono::seconds(90));
if (_info != nullptr) {
speed_factor = _info->get_speed_factor().second;
}
const float mission_finish_waiting_time_in_simulation_s = 500.f;
float mission_finish_waiting_time_in_real_s = mission_finish_waiting_time_in_simulation_s / speed_factor;
wait_for_mission_finished(std::chrono::seconds(static_cast<int>(mission_finish_waiting_time_in_real_s)));
}
void AutopilotTester::execute_mission_and_lose_gps()
@ -388,9 +395,16 @@ void AutopilotTester::execute_mission_raw()
{
REQUIRE(_mission->start_mission() == Mission::Result::Success);
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
float speed_factor = 1.0f;
wait_for_mission_raw_finished(std::chrono::seconds(120));
if (_info != nullptr) {
speed_factor = _info->get_speed_factor().second;
}
const float waiting_time_simulation_time_s = 300.f; // currently this is tuned for the VTOL wind test
float waiting_time_absolute_s = waiting_time_simulation_time_s / speed_factor;
wait_for_mission_raw_finished(std::chrono::seconds(static_cast<int>(waiting_time_absolute_s)));
}
void AutopilotTester::execute_rtl()