Mavsdk test: Make wait_until_ready also wait until vehicle can arm
#20489
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This was referenced Oct 26, 2022
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CI build error for the standard_vtol with Address Sanitizer is a duplicate issue of #14835. But since this failure mode is not understood yet, the CI failure can't be interpreted as a result of this PR itself. Most likely irrelevant. |
julianoes
previously approved these changes
Nov 2, 2022
arm - Previously, due to the way MAVSDK's `health_all_ok` was implemented, vehicle often didn't have a valid global position estimate (although function returned true), and it wouldn't arm, and the SITL would fail - Also sometimes as vehicle didn't have manual control, it entered weird states where it wasn't able to arm as well - This adds a check to make sure vehicle is able to arm, directly from the Health struct
junwoo091400
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@julianoes Good to merge? 😉 |
julianoes
approved these changes
Nov 7, 2022
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Describe problem solved by this pull request
Previously, due to the way MAVSDK's
health_all_okwas implemented, vehicle often didn't have a valid global position estimate (although function returned true), and it wouldn't arm, and the SITL would fail. This was originally reported here: mavlink/MAVSDK#1852 (comment)Also sometimes as vehicle didn't have manual control, it entered weird states where it wasn't able to arm as well.
Describe your solution
In
wait_until_ready(), wait until we are able to arm, after checking system health. This ensures thattester.arm()in mavsdk tests will succeed, since we know we will be able to arm, and SITL tests will not fail just because it can't arm.Test data / coverage
Standard VTOL mavsdk tests succeeded in local environment (wow it is slow when we don't have time factor!).
Additional context
Related: mavlink/MAVSDK#1852