Skip to content

mavsdk_tests: add multicopter alt hold test #24396

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
merged 17 commits into from
Mar 21, 2025
Merged

mavsdk_tests: add multicopter alt hold test #24396

merged 17 commits into from
Mar 21, 2025

Conversation

dakejahl
Copy link
Contributor

@dakejahl dakejahl commented Feb 22, 2025 •
edited
Loading

CI SITL test for multicopter takeoff and hold. This is for testing EKF height estimation issues.

@dakejahl dakejahl force-pushed the pr-multicopter_altitude_hold_mavsdk_test branch 2 times, most recently from 37eee44 to 2e18156 Compare February 22, 2025 05:20
@dakejahl
Copy link
Contributor Author

dakejahl commented Feb 22, 2025 •
edited
Loading

Tolerance Result
0.5m FAIL
1.0m FAIL
2.0m PASS
5.0m PASS
10m PASS

If I increase the sleep time from 30 seconds to say 2 mins I bet we'd see failures at 2m. In gz sim with x500 after a few minutes of hovering I see up to 2.5m error.

@dakejahl dakejahl marked this pull request as ready for review February 22, 2025 07:32
@dakejahl
Copy link
Contributor Author

dakejahl commented Feb 22, 2025 •
edited
Loading

This PR also fixes log upload on failed tests. However the logs can be pretty big, so maybe we want to reduce SDLOG_PROFILE for SITL tests.

135MB log file from the latest failure
https://github.com/PX4/PX4-Autopilot/actions/runs/13471697096
image

mrpollo
mrpollo previously approved these changes Feb 25, 2025
View reviewed changes
@DronecodeBot
Copy link

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-feb-26-2025/43951/2

@DronecodeBot
Copy link

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-feb-26-2025/43951/1

@mrpollo
Copy link
Contributor

mrpollo commented Feb 26, 2025

Can you please update the models on this branch so the tests pass?

PX4/PX4-gazebo-models#81

@dakejahl dakejahl force-pushed the pr-multicopter_altitude_hold_mavsdk_test branch from f02e02a to 4e4f35b Compare February 27, 2025 04:52
@dakejahl dakejahl force-pushed the pr-multicopter_altitude_hold_mavsdk_test branch 2 times, most recently from a46d254 to 49f58c7 Compare February 27, 2025 05:20
@dakejahl
Copy link
Contributor Author

dakejahl commented Feb 27, 2025 •
edited
Loading

Looks removing the random walk from the gazebo-classic IMU fixes all of the mavsdk-sitl tests. So indeed the altitude issue was likely causing the failures.

Shall we remove the random walk from all of the airframes now? @bresch maybe an explanation would be helpful on how things have changed, @Jaeyoung-Lim had some concerns about why the sim worked well before

@dakejahl
Copy link
Contributor Author

dakejahl commented Mar 4, 2025

I will open a separate PR to remove random walk from the gazebo-classic models.

@dakejahl dakejahl force-pushed the pr-multicopter_altitude_hold_mavsdk_test branch from b3e96a0 to 947121a Compare March 4, 2025 02:51
@dakejahl dakejahl mentioned this pull request Mar 6, 2025
Merged
@dakejahl dakejahl mentioned this pull request Mar 13, 2025
Closed
@dakejahl dakejahl force-pushed the pr-multicopter_altitude_hold_mavsdk_test branch from fad3599 to ec46d64 Compare March 18, 2025 03:36
@dakejahl dakejahl requested a review from mrpollo March 18, 2025 04:11
@dakejahl dakejahl enabled auto-merge (squash) March 18, 2025 04:11
@dakejahl
Copy link
Contributor Author

Finally everything is passing! 🎉

@dakejahl dakejahl requested review from AlexKlimaj and bresch March 19, 2025 03:44
@dakejahl
Copy link
Contributor Author

@mrpollo can you help with fixing the clang tidy test so we can get this merged?

@dakejahl dakejahl requested a review from julianoes March 21, 2025 19:57
@dakejahl dakejahl merged commit 4c0a63f into PX4:main Mar 21, 2025
59 checks passed
@dakejahl dakejahl deleted the pr-multicopter_altitude_hold_mavsdk_test branch March 21, 2025 22:21
@julianoes
Copy link
Contributor

Thanks @dakejahl

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@AlexKlimaj AlexKlimaj AlexKlimaj approved these changes

@mrpollo mrpollo Awaiting requested review from mrpollo

@bresch bresch Awaiting requested review from bresch

@julianoes julianoes Awaiting requested review from julianoes

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

5 participants

@dakejahl @DronecodeBot @mrpollo @julianoes @AlexKlimaj