test: reduce sped factor to 3

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

.github/workflows/sitl_tests.yml

@@ -96,7 +96,7 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 3 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
       timeout-minutes: 45
 
     - name: Look at core files

test/mavsdk_tests/autopilot_tester.cpp

@@ -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()

test/mavsdk_tests/test_vtol_loiter_airspeed_failure_blockage.cpp

@@ -47,7 +47,7 @@ TEST_CASE("Fly VTOL Loiter with airspeed failure", "[vtol_airspeed_fail]")
 	const float takeoff_altitude = 10.f;
 	tester.set_takeoff_altitude(takeoff_altitude);
 
-	tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_straight_south.plan");
+	tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan");
 	tester.arm();
 
 	tester.takeoff();

test/mavsdk_tests/vtol_mission_straight_south.plan

@@ -49,7 +49,7 @@
                     0,
                     0,
                     null,
-                    47.38497919751799,
+                    47.392,
                     8.54578066404548,
                     30
                 ],