forked from Archive/PX4-Autopilot
168 lines
6.1 KiB
C++
168 lines
6.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 "autopilot_tester.h"
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TEST_CASE("Land on GPS lost during mission (baro height mode)", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.set_height_source(AutopilotTester::HeightSource::Baro);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission_and_lose_gps();
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
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tester.wait_until_disarmed(until_disarmed_timeout);
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}
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TEST_CASE("Land on GPS lost during mission (GPS height mode)", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.set_height_source(AutopilotTester::HeightSource::Gps);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission_and_lose_gps();
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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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TEST_CASE("Continue on mag lost during mission", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission_and_lose_mag();
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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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#if 0
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// This test is disabled for now because the estimator sometimes diverges on
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// right after landing which then prevents auto-disarm.
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TEST_CASE("Continue on mag stuck during mission", "[multicopter][vtol]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission_and_get_mag_stuck();
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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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#endif
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TEST_CASE("Continue on baro lost during mission (baro height mode)", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.set_height_source(AutopilotTester::HeightSource::Baro);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission_and_lose_baro();
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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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TEST_CASE("Continue on baro lost during mission (GPS height mode)", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.set_height_source(AutopilotTester::HeightSource::Gps);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission_and_lose_baro();
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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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TEST_CASE("Continue on baro stuck during mission (baro height mode)", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.set_height_source(AutopilotTester::HeightSource::Baro);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission_and_get_baro_stuck();
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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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TEST_CASE("Continue on baro stuck during mission (GPS height mode)", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.set_height_source(AutopilotTester::HeightSource::Gps);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission_and_get_baro_stuck();
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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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