CI fix 'Fly forward in position control' MAVSDK test #22775
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PerFrivik
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rebased on main |
MaEtUgR
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I edited the description to contain the important points. |
MaEtUgR
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@PerFrivik Do you have a reference to a pr or commit on main where this was failing in CI? |
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Push hotfix for altitude estimation issue in and merge after CI is passing. |
This is a workaround to hotfix CI but the root cause is #22792 (MAVSDK test failing after EKF change, accelerometer simulation issues not learned anymore?)
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We get more than 5 meter away much quicker.
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@PerFrivik @sfuhrer The VTOL wind one you started looking into should be the last one 😅 |
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Solved Problem
This PR solves the issue of the CI SITL Tests failing for the iris, specifically when the 'Fly forward in position control' test is run.
To verify, run the following locally:
DONT_RUN=1 make px4_sitl gazebo-classic mavsdk_tests && test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 20 --model iris --iterations 100 --case 'Fly forward in position control'Solution
These tests are written with the assumption, that PX4 will not switch to Position mode if it's not allowed to fly it yet. But now you can switch to Position mode even if it's not flyable yet when the vehicle is still disarmed. PX4 will actually automatically switch to position mode when there's stick input but we don't want to rely on that in this test.
Order:
Alternatives
The test could be made faster because it's not necessary to fly 20+ seconds in one direction to get further than 5 meters away from home.