forked from Archive/PX4-Autopilot
55 lines
2.3 KiB
C++
55 lines
2.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <thread>
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#include <chrono>
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#include "autopilot_tester_failure.h"
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TEST_CASE("Failure Injection - Reject mid-air when it is disabled", "[multicopter]")
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{
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AutopilotTesterFailure tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.set_param_int("SYS_FAILURE_EN", 0);
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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.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off, 1,
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mavsdk::Failure::Result::Disabled);
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tester.execute_rtl();
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
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tester.wait_until_disarmed(until_disarmed_timeout);
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}
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