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

refactor(mavsdk_tests): use sim time directly for execute_mission timeout

Browse Source 
poll_condition_with_timeout polls the autopilot's monotonic time, which is
already simulation time. The previous code divided a sim-time budget by the
speed factor to compute a wall-clock timeout, but this is unnecessary and
adds a dependency on the speed-factor query.
This commit is contained in:
Julian Oes
2026-04-28 13:47:11 +12:00
committed by Ramon Roche
parent 92c6818fc5
commit ac8f3df583
1 changed files with 2 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
test/mavsdk_tests/autopilot_tester.cpp
View File

@@ -282,16 +282,8 @@ void AutopilotTester::execute_mission()
REQUIRE(poll_condition_with_timeout(
[this]() { return _mission->start_mission() == Mission::Result::Success; }, std::chrono::seconds(3)));
float speed_factor = 1.0f;
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)));
// poll_condition_with_timeout uses autopilot sim time, so pass sim-time timeout directly
wait_for_mission_finished(std::chrono::seconds(500));
}
void AutopilotTester::execute_mission_and_lose_gps()