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mavsdk_tests: add test back in 

This failed with other frames but seems to pass with iris and
standard_vtol.
sbg
Julian Oes 5 years ago committed by Daniel Agar
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1 changed files with 21 additions and 21 deletions
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  1. 42
      test/mavsdk_tests/test_multicopter_offboard.cpp

42
test/mavsdk_tests/test_multicopter_offboard.cpp
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@ -54,24 +54,24 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]") @@ -54,24 +54,24 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
tester.check_home_within(1.0f);
}
// TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
// {
// AutopilotTester tester;
// Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
// Offboard::PositionNedYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
// Offboard::PositionNedYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
// Offboard::PositionNedYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
// tester.connect(connection_url);
// tester.wait_until_ready_local_position_only();
// tester.store_home();
// tester.arm();
// std::chrono::seconds goto_timeout = std::chrono::seconds(20);
// tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
// tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
// tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
// tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
// tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
// tester.offboard_land();
// tester.wait_until_disarmed(goto_timeout);
// tester.check_home_within(1.0f);
// }
TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
{
AutopilotTester tester;
Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
Offboard::PositionNedYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
Offboard::PositionNedYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
Offboard::PositionNedYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.store_home();
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(20);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_land();
tester.wait_until_disarmed(goto_timeout);
tester.check_home_within(1.0f);
}

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