forked from Archive/PX4-Autopilot
mavsdk figure 8 test: Increase time of timeout
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@ -44,16 +44,17 @@ TEST_CASE("Figure eight execution clockwise", "[vtol]")
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tester.store_home();
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const float takeoff_altitude = 20.f;
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tester.set_takeoff_altitude(takeoff_altitude);
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std::this_thread::sleep_for(std::chrono::seconds(3));
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(30));
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tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(60));
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tester.transition_to_fixedwing();
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tester.wait_until_fixedwing(std::chrono::seconds(5));
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std::this_thread::sleep_for(std::chrono::seconds(1));
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tester.set_figure_eight(150., 50., 0., 200., 0., 20.);
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tester.execute_figure_eight();
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tester.check_tracks_figure_eight(std::chrono::seconds(60), 10.);
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tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.);
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// tester.check_receive_execution_status(std::chrono::seconds(
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// 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk
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}
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@ -66,16 +67,17 @@ TEST_CASE("Figure eight execution counterclockwise", "[vtol]")
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tester.store_home();
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const float takeoff_altitude = 20.f;
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tester.set_takeoff_altitude(takeoff_altitude);
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std::this_thread::sleep_for(std::chrono::seconds(3));
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(30));
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tester.wait_until_altitude(takeoff_altitude - 1.f, std::chrono::seconds(60));
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tester.transition_to_fixedwing();
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tester.wait_until_fixedwing(std::chrono::seconds(5));
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std::this_thread::sleep_for(std::chrono::seconds(1));
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tester.set_figure_eight(-150., 50., 30.*M_PI / 180., 200., 0., 20.);
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tester.execute_figure_eight();
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tester.check_tracks_figure_eight(std::chrono::seconds(60), 10.);
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tester.check_tracks_figure_eight(std::chrono::seconds(120), 10.);
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// tester.check_receive_execution_status(std::chrono::seconds(
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// 5)); //TODO With mavsdk we can't subscribe to custom messages. Need to wait until messages are recognised by mavsdk.
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}
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