On branch update_hitl_ip_setup

Updated IPs of FC for model_hitl.sdf files in Tools/simulator/gz/models Adjust delays for improved reliability for MAVSDK testing
tiiuae · Nov 28, 2024 · c9f6ab3 · c9f6ab3
1 parent 87d267a
commit c9f6ab3
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Showing 8 changed files with 14 additions and 7 deletions.
diff --git a/Tools/simulation/gz/hitl_run.sh b/Tools/simulation/gz/hitl_run.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 #example for run
-#./Tools/simulation/gz/hitl_run.sh x500/model_hitl.sdf
+#./Tools/simulation/gz/hitl_run.sh ssrc_holybro_x500/model_hitl.sdf
 
 MODEL_PATH=$1
 

diff --git a/Tools/simulation/gz/models/ssrc_holybro_x500/model_hitl.sdf b/Tools/simulation/gz/models/ssrc_holybro_x500/model_hitl.sdf
@@ -7,8 +7,9 @@
     <plugin filename="libmavlink_hitl_gazebosim.so" name="mavlink_interface::GazeboMavlinkInterface">
       <robotNamespace/>
       <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic>
+      <gpsSubTopic>/link/base_link/sensor/navsat_sensor/navsat</gpsSubTopic>
       <poseSubTopic>/pose/info</poseSubTopic>
-      <mavlink_addr>192.168.200.101</mavlink_addr>
+      <mavlink_addr>192.168.202.1</mavlink_addr>
       <mavlink_udp_local_port>14542</mavlink_udp_local_port>
       <mavlink_udp_remote_port>14543</mavlink_udp_remote_port>
       <mavlink_tcp_port>4560</mavlink_tcp_port>

diff --git a/Tools/simulation/gz/models/ssrc_skywalker_x8/model_hitl.sdf b/Tools/simulation/gz/models/ssrc_skywalker_x8/model_hitl.sdf
@@ -7,8 +7,9 @@
     <plugin filename="libmavlink_hitl_gazebosim.so" name="mavlink_interface::GazeboMavlinkInterface">
       <robotNamespace/>
       <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic>
+      <gpsSubTopic>/link/base_link/sensor/navsat_sensor/navsat</gpsSubTopic>
       <poseSubTopic>/pose/info</poseSubTopic>
-      <mavlink_addr>192.168.200.101</mavlink_addr>
+      <mavlink_addr>192.168.202.1</mavlink_addr>
       <mavlink_udp_local_port>14542</mavlink_udp_local_port>
       <mavlink_udp_remote_port>14543</mavlink_udp_remote_port>
       <mavlink_tcp_port>4560</mavlink_tcp_port>

diff --git a/Tools/simulation/gz/models/ssrc_standard_vtol/model_hitl.sdf b/Tools/simulation/gz/models/ssrc_standard_vtol/model_hitl.sdf
@@ -7,8 +7,9 @@
     <plugin filename="libmavlink_hitl_gazebosim.so" name="mavlink_interface::GazeboMavlinkInterface">
       <robotNamespace/>
       <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic>
+      <gpsSubTopic>/link/base_link/sensor/navsat_sensor/navsat</gpsSubTopic>
       <poseSubTopic>/pose/info</poseSubTopic>
-      <mavlink_addr>192.168.200.101</mavlink_addr>
+      <mavlink_addr>192.168.202.1</mavlink_addr>
       <mavlink_udp_local_port>14542</mavlink_udp_local_port>
       <mavlink_udp_remote_port>14543</mavlink_udp_remote_port>
       <mavlink_tcp_port>4560</mavlink_tcp_port>

diff --git a/Tools/simulation/gz/models/x500/model_hitl.sdf b/Tools/simulation/gz/models/x500/model_hitl.sdf
@@ -7,6 +7,7 @@
     <plugin filename="libmavlink_hitl_gazebosim.so" name="mavlink_interface::GazeboMavlinkInterface">
       <robotNamespace/>
       <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic>
+      <gpsSubTopic>/link/base_link/sensor/navsat_sensor/navsat</gpsSubTopic>
       <poseSubTopic>/pose/info</poseSubTopic>
       <mavlink_addr>192.168.0.3</mavlink_addr>
       <mavlink_udp_local_port>14542</mavlink_udp_local_port>

diff --git a/test/mavsdk_tests/mavsdk_preparing.cpp b/test/mavsdk_tests/mavsdk_preparing.cpp
@@ -119,6 +119,8 @@ int main(int argc, char **argv)
 
 	if (command_set_param == command) {
 		//TODO: For some reason when we set the new value it sometimes takes several attempts to change a parameter.
+		//The reason is the bug of mavsdk lib.
+		//When we set one parameter many times, sometimes the lib sends not the new but the previous value.
 		int attempt = 1;
 		const int max_attemp = 5;
 		const auto param_name = "SYS_AUTOSTART";
@@ -137,6 +139,8 @@ int main(int argc, char **argv)
 			auto res = param.get_param_int(param_name);
 
 			if (res.first == Param::Result::Success && res.second == param_value) {
+				//For some reason, if we reboot device immediately after changing of parameter, it will not be saved.
+				std::this_thread::sleep_for(3s);
 				break;
 			}
 

diff --git a/test/mavsdk_tests/mavsdk_test_runner.py b/test/mavsdk_tests/mavsdk_test_runner.py
@@ -316,7 +316,6 @@ def reboot_px4(self):
 
         if (res):
             print("The device has successfully rebooted")
-            time.sleep(15)
         else:
             print("Reboot failed")
             exit(-1)

diff --git a/test/mavsdk_tests/process_helper.py b/test/mavsdk_tests/process_helper.py
@@ -54,9 +54,9 @@ def start(self) -> None:
 
         if self.name == "mavsdk_tests":
             if self.env["HIL_MODE"] == "hitl":
-                delay = 10
+                delay = 30
                 print("Waiting ", delay, " seconds for connection to be established...  ")
-                time.sleep(10)
+                time.sleep(delay)
                 print("Running test...")
         atexit.register(self.stop)