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test(mavsdk): switch tests to SIH simulator

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This commit is contained in:
Matthias Grob
2025-12-03 11:33:44 +01:00
committed by Ramon Roche
parent 1499238f1c
commit cf8a65c5dd
7 changed files with 31 additions and 58 deletions
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24
src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
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@@ -246,16 +246,16 @@ if(gazebo_FOUND)
add_custom_target(gazebo-classic DEPENDS gazebo-classic_iris) # alias
add_custom_target(gazebo DEPENDS gazebo-classic_iris) # alias
# mavsdk tests currently depend on sitl_gazebo
ExternalProject_Add(mavsdk_tests
SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests
INSTALL_COMMAND ""
USES_TERMINAL_CONFIGURE true
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
)
endif()
# mavsdk tests DO NOT depend on sitl_gazebo
ExternalProject_Add(mavsdk_tests
SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests
INSTALL_COMMAND ""
USES_TERMINAL_CONFIGURE true
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
)

2
src/modules/simulation/simulator_sih/sih.cpp
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@@ -698,7 +698,7 @@ void Sih::reconstruct_sensors_signals(const hrt_abstime &time_now_us)
Vector3f accel_noise;
Vector3f gyro_noise;
if (_T_B.longerThan(FLT_EPSILON)) {
if (false && _T_B.longerThan(FLT_EPSILON)) { // too much noise at least for the low update rate O.O
accel_noise = noiseGauss3f(0.5f, 1.7f, 1.4f);
gyro_noise = noiseGauss3f(0.14f, 0.07f, 0.03f);

18
test/mavsdk_tests/autopilot_tester.cpp
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@@ -226,13 +226,13 @@ void AutopilotTester::wait_until_hovering()
void AutopilotTester::wait_until_altitude(float rel_altitude_m, std::chrono::seconds timeout, float delta)
{
auto prom = std::promise<void> {};
auto prom = std::promise<void>{};
auto fut = prom.get_future();
Telemetry::PositionHandle handle = _telemetry->subscribe_position([&prom, rel_altitude_m, delta, &handle,
this](Telemetry::Position new_position) {
if (fabs(rel_altitude_m - new_position.relative_altitude_m) <= delta) {
_telemetry->unsubscribe_position(handle);
Telemetry::PositionVelocityNedHandle handle = _telemetry->subscribe_position_velocity_ned([&prom, rel_altitude_m, delta, &handle,
this](Telemetry::PositionVelocityNed new_position) {
if (fabs(rel_altitude_m + new_position.position.down_m) <= delta) {
_telemetry->unsubscribe_position_velocity_ned(handle);
prom.set_value();
}
});
@@ -641,16 +641,16 @@ void AutopilotTester::start_checking_altitude(const float max_deviation_m)
std::array<float, 3> initial_position = get_current_position_ned();
float target_altitude = initial_position[2];
_check_altitude_handle = _telemetry->subscribe_position([target_altitude, max_deviation_m,
this](Telemetry::Position new_position) {
const float current_deviation = fabs((-target_altitude) - new_position.relative_altitude_m);
_check_altitude_handle = _telemetry->subscribe_position_velocity_ned([target_altitude, max_deviation_m,
this](Telemetry::PositionVelocityNed new_position) {
const float current_deviation = fabs(target_altitude - new_position.position.down_m);
CHECK(current_deviation <= max_deviation_m);
});
}
void AutopilotTester::stop_checking_altitude()
{
_telemetry->unsubscribe_position(_check_altitude_handle);
_telemetry->unsubscribe_position_velocity_ned(_check_altitude_handle);
}
void AutopilotTester::check_tracks_mission_raw(float corridor_radius_m, bool reverse)

2
test/mavsdk_tests/autopilot_tester.h
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@@ -299,7 +299,7 @@ private:
Telemetry::GroundTruth _home{NAN, NAN, NAN};
mavsdk::Telemetry::PositionHandle _check_altitude_handle{};
mavsdk::Telemetry::PositionVelocityNedHandle _check_altitude_handle{};
std::atomic<bool> _should_exit {false};
std::thread _real_time_report_thread {};

2
test/mavsdk_tests/integration_test_runner/process_helper.py
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@@ -168,7 +168,7 @@ class Px4Runner(Runner):
os.path.join(workspace_dir, "test_data"),
"-d"
]
self.env["PX4_SIM_MODEL"] = "gazebo-classic_" + self.model
self.env["PX4_SIM_MODEL"] = "sihsim_quadx"
self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
self.debugger = debugger
self.clear_rootfs()

29
test/mavsdk_tests/integration_test_runner/test_runner.py
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@@ -314,35 +314,6 @@ class Tester:
else:
world_name = 'empty.world'
gzserver_runner = ph.GzserverRunner(
os.getcwd(),
log_dir,
test['vehicle'],
case,
self.get_max_speed_factor(test),
self.verbose,
self.build_dir,
world_name)
self.active_runners.append(gzserver_runner)
gzmodelspawn_runner = ph.GzmodelspawnRunner(
os.getcwd(),
log_dir,
test['vehicle'],
case,
self.verbose,
self.build_dir)
self.active_runners.append(gzmodelspawn_runner)
if self.gui:
gzclient_runner = ph.GzclientRunner(
os.getcwd(),
log_dir,
test['model'],
case,
self.verbose)
self.active_runners.append(gzclient_runner)
# We must start the PX4 instance at the end, as starting
# it in the beginning, then connecting Gazebo server freaks
# out the PX4 (it needs to have data coming in when started),

12
test/mavsdk_tests/test_multicopter_basics.cpp
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@@ -40,8 +40,6 @@
TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
{
const float takeoff_altitude = 10.f;
const float altitude_tolerance = 0.2f;
const int delay_seconds = 60.f;
AutopilotTester tester;
tester.connect(connection_url);
@@ -52,14 +50,18 @@ TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
// The sleep here is necessary for the takeoff altitude to be applied properly
std::this_thread::sleep_for(std::chrono::seconds(1));
// Capture altitude before takeoff
std::array<float, 3> initial_position = tester.get_current_position_ned();
float ground_altitude = -initial_position[2];
// Takeoff
tester.arm();
tester.takeoff();
tester.wait_until_hovering();
tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30), altitude_tolerance);
tester.wait_until_altitude(ground_altitude + takeoff_altitude, std::chrono::seconds(15), 0.01f);
// Monitor altitude and fail if it exceeds the tolerance
tester.start_checking_altitude(altitude_tolerance + 0.1);
tester.start_checking_altitude(0.15);
std::this_thread::sleep_for(std::chrono::seconds(delay_seconds));
std::this_thread::sleep_for(std::chrono::seconds(15));
}