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mavsdk tests: use tester sleep_for function

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the previously used std::this_thread::sleep_for is with respect to host
system time which is different from autopilot time if:

 - speed factor != 1
 - something runs slower than realtime regardless of speed factor
 - debugging or otherwise interrupting PX4 control code

tester.sleep_for (which already existed) correctly sleeps w.r.t.
px4/simulation time.
This commit is contained in:
Balduin
2025-01-29 15:36:55 +01:00
committed by Matthias Grob
parent d72c2cc378
commit c0100ed4e7
4 changed files with 36 additions and 42 deletions
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29
test/mavsdk_tests/test_multicopter_control_allocation.cpp
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@@ -62,8 +62,7 @@ TEST_CASE("Control Allocation - Remove one motor", "[controlallocation]")
tester.check_tracks_mission(5.f);
tester.store_home();
tester.enable_actuator_output_status();
std::this_thread::sleep_for(std::chrono::seconds(
1)); // This is necessary for the takeoff altitude to be applied properly
tester.sleep_for(std::chrono::seconds(1)); // Necessary for the takeoff altitude to be applied properly
// Takeoff
tester.arm();
@@ -78,7 +77,7 @@ TEST_CASE("Control Allocation - Remove one motor", "[controlallocation]")
const unsigned num_motors = 6; // TODO: get from model
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off, motor_instance,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.sleep_for(std::chrono::seconds(1));
tester.ensure_motor_stopped(motor_instance - 1, num_motors);
tester.execute_mission();
@@ -115,8 +114,7 @@ TEST_CASE("Control Allocation - Remove two motors", "[controlallocation]")
tester.set_rtl_altitude(flight_altitude);
tester.check_tracks_mission(5.f);
tester.store_home();
std::this_thread::sleep_for(std::chrono::seconds(
1)); // This is necessary for the takeoff altitude to be applied properly
tester.sleep_for(std::chrono::seconds(1)); // Necessary for the takeoff altitude to be applied properly
tester.arm();
tester.takeoff();
@@ -131,11 +129,11 @@ TEST_CASE("Control Allocation - Remove two motors", "[controlallocation]")
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off,
first_motor_instance,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.sleep_for(std::chrono::seconds(1));
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off,
second_motor_instance,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.sleep_for(std::chrono::seconds(1));
tester.execute_mission();
tester.stop_checking_altitude();
@@ -170,8 +168,7 @@ TEST_CASE("Control Allocation - Remove and restore every motor once", "[controla
tester.set_rtl_altitude(flight_altitude);
tester.check_tracks_mission(5.f);
tester.store_home();
std::this_thread::sleep_for(std::chrono::seconds(
1)); // This is necessary for the takeoff altitude to be applied properly
tester.sleep_for(std::chrono::seconds(1)); // Necessary for the takeoff altitude to be applied properly
tester.arm();
tester.takeoff();
@@ -184,10 +181,10 @@ TEST_CASE("Control Allocation - Remove and restore every motor once", "[controla
for (int m = 1; m <= 6; m++) {
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off, m,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.sleep_for(std::chrono::seconds(1));
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Ok, m,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.sleep_for(std::chrono::seconds(1));
}
tester.execute_mission();
@@ -216,8 +213,7 @@ TEST_CASE("Control Allocation - Return home on motor failure", "[controlallocati
tester.set_param_com_act_fail_act(3); // RTL on motor failure
tester.set_takeoff_altitude(flight_altitude);
tester.store_home();
std::this_thread::sleep_for(std::chrono::seconds(
1)); // This is necessary for the takeoff altitude to be applied properly
tester.sleep_for(std::chrono::seconds(1)); // Necessary for the takeoff altitude to be applied properly
// Takeoff
tester.arm();
@@ -232,7 +228,7 @@ TEST_CASE("Control Allocation - Return home on motor failure", "[controlallocati
const int motor_instance = 1;
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off, motor_instance,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.sleep_for(std::chrono::seconds(1));
// Wait for RTL to trigger automatically
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
@@ -256,8 +252,7 @@ TEST_CASE("Control Allocation - Terminate on motor failure", "[controlallocation
tester.set_param_ca_failure_mode(1); // Enable control allocation handling of failed motor
tester.set_param_com_act_fail_act(4); // Terminate on motor failure
tester.set_takeoff_altitude(flight_altitude);
std::this_thread::sleep_for(std::chrono::seconds(
1)); // This is necessary for the takeoff altitude to be applied properly
tester.sleep_for(std::chrono::seconds(1)); // Necessary for the takeoff altitude to be applied properly
// Takeoff
tester.arm();
@@ -269,7 +264,7 @@ TEST_CASE("Control Allocation - Terminate on motor failure", "[controlallocation
const int motor_instance = 1;
tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off, motor_instance,
mavsdk::Failure::Result::Success);
std::this_thread::sleep_for(std::chrono::seconds(1));
tester.sleep_for(std::chrono::seconds(1));
// Wait for disarm with a low enough timeout such that it's necessary for the
// drone to freefall (terminate) in order to disarm quickly enough: