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https://github.com/PX4/PX4-Autopilot.git
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a617a1433c
wait_until_altitude() returns on the first touch of the target band while the vehicle is still climbing, so start_checking_altitude() latched the hold reference mid-climb. The normal takeoff overshoot (~0.24 m) and slow VTOL settle then exceeded the 0.15 m tolerance and the standard_vtol job failed intermittently. Wait for the overshoot to damp before capturing the reference, and restore the 0.2 m tolerance established in #26106 (a later SIH rewrite had tightened it back to 0.15 m). Steady-state hover holds to ~0.05 m, so the check stays sensitive to real altitude-hold failures. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
76 lines
3.1 KiB
C++
76 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <thread>
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#include <chrono>
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#include <math.h>
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#include "autopilot_tester.h"
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TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
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{
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const float takeoff_altitude = 10.f;
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// Takeoff overshoot plus the slow VTOL settle can drift the hold altitude by
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// ~0.1 m; keep the tolerance above that so a normal hover doesn't trip it.
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const float altitude_hold_tolerance = 0.2f;
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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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tester.set_takeoff_altitude(takeoff_altitude);
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tester.store_home();
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// The sleep here is necessary for the takeoff altitude to be applied properly
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tester.sleep_for(std::chrono::seconds(1));
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// Capture altitude before takeoff
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std::array<float, 3> initial_position = tester.get_current_position_ned();
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float ground_altitude = -initial_position[2];
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// Takeoff
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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tester.wait_until_altitude(ground_altitude + takeoff_altitude, std::chrono::seconds(15), 0.1f);
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// wait_until_altitude() returns on the first touch of the target band, while
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// the vehicle is still climbing. Let the takeoff overshoot damp out so the
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// hold reference is captured at the settled hover altitude, not mid-climb.
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tester.sleep_for(std::chrono::seconds(5));
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// Monitor altitude and fail if it exceeds the tolerance
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tester.start_checking_altitude(altitude_hold_tolerance);
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tester.sleep_for(std::chrono::seconds(15));
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}
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