UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-24 15:27:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix(mavsdk_tests): don't wait for Land mode on mission GPS loss (#28017)

Browse Source 
Since #27918 a blind descend reports the distinct Descend flight mode
instead of masquerading as Land. MAVSDK v3.17.1 has no Descend mode, so
wait_for_flight_mode(Land) timed out and SITL failed on main.

Losing GPS in SIH removes all horizontal position aiding, so the vehicle
always blind-descends after the mission GPS loss; a controlled Land is
never entered. The test already waits for the automatic disarm after
landing, which is the meaningful check.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Jacob Dahl
2026-07-21 19:13:05 -06:00
committed by GitHub
parent 350e831823
commit 73ca0e2137
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
test/mavsdk_tests/autopilot_tester.cpp
View File

@@ -298,8 +298,8 @@ void AutopilotTester::execute_mission_and_lose_gps()
CHECK(_failure->inject(Failure::FailureUnit::SensorGps, Failure::FailureType::Off, 0) == Failure::Result::Success);
// We expect that a blind land is performed.
wait_for_flight_mode(Telemetry::FlightMode::Land, std::chrono::seconds(30));
// With no position aiding left, a blind descend is performed. MAVSDK has no
// Descend flight mode, so the caller just waits for the disarm after landing.
}
void AutopilotTester::execute_mission_and_lose_mag()