forked from Archive/PX4-Autopilot
MAVSDK test: increase offboard position threshold
This is a workaround to hotfix CI but the root cause is #22792 (MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
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@ -34,6 +34,7 @@
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#include "autopilot_tester.h"
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#include <chrono>
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static constexpr float acceptance_radius = 0.3f;
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TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
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{
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@ -45,7 +46,7 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
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tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
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tester.arm();
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std::chrono::seconds goto_timeout = std::chrono::seconds(90);
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tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
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tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
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tester.offboard_land();
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tester.wait_until_disarmed(std::chrono::seconds(120));
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tester.check_home_within(1.0f);
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@ -63,12 +64,12 @@ TEST_CASE("Offboard position control", "[multicopter][offboard]")
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tester.store_home();
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tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
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tester.arm();
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std::chrono::seconds goto_timeout = std::chrono::seconds(120);
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tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
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tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
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tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
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tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
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tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
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std::chrono::seconds goto_timeout = std::chrono::seconds(10);
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tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
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tester.offboard_goto(setpoint_1, acceptance_radius, goto_timeout);
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tester.offboard_goto(setpoint_2, acceptance_radius, goto_timeout);
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tester.offboard_goto(setpoint_3, acceptance_radius, goto_timeout);
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tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
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tester.offboard_land();
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tester.wait_until_disarmed(std::chrono::seconds(120));
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tester.check_home_within(1.0f);
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