-
Notifications
You must be signed in to change notification settings - Fork 19
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
c3d4da0
commit 23a4dbd
Showing
3 changed files
with
158 additions
and
9 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,149 @@ | ||
|
||
# test flight normal | ||
rosbag: normal_liftoff | ||
input: fly the drone with the pid tuned so that it quickly lifts to setpoint. fly around the map | ||
expected: no safety failures | ||
output: no safety failures | ||
|
||
# test flight slow | ||
rosbag: slow_liftoff | ||
input: fly the drone with the pid tuned so that it slowly lifts to setpoint. fly around the map | ||
expected: no safety failures | ||
output: no safety failures | ||
|
||
# test flight too fast | ||
rosbag: n/a | ||
input: fly the drone with the pid tuned so that it takes off too fast | ||
expected: safety failure from z-axis acceleration | ||
output: | ||
Safety Failure: Crash predicted based on pitch rate | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: -3.05892055539 | ||
INFO: Sending DISARM command | ||
|
||
# test check_alititude | ||
rosbag: check_alititude | ||
input: arm drone close to ground. lift with hand above height threshold. | ||
output: | ||
Safety Failure: Drone is flying too high | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: 0.507127568493 | ||
INFO: Sending DISARM command | ||
|
||
# test check_accelerations | ||
|
||
## test postive x-axis | ||
rosbag: check_accel_x_pos | ||
input: arm drone. use hand to thrust drone in positive x-axis | ||
output: | ||
Safety Failure: Crash predicted based on X-axis acceleration | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: 11.2605106868 | ||
INFO: Sending DISARM command | ||
|
||
## test negative x-axis | ||
rosbag: check_accel_x_neg | ||
input: arm drone. use hand to thrust drone in negative x-axis | ||
output: | ||
Safety Failure: Crash predicted based on X-axis acceleration | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: -23.6029466744 | ||
INFO: Sending DISARM command | ||
|
||
## test postive y-axis | ||
rosbag: check_accel_y_pos | ||
input: arm drone. use hand to thrust drone in positive y-axis | ||
output: | ||
Safety Failure: Crash predicted based on Y-axis acceleration | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: 21.0482279669 | ||
INFO: Sending DISARM command | ||
|
||
## test negative y-axis | ||
rosbag: check_accel_y_neg | ||
input: arm drone. use hand to thrust drone in negative y-axis | ||
output: | ||
Safety Failure: Crash predicted based on Y-axis acceleration | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: -16.128889755 | ||
INFO: Sending DISARM command | ||
|
||
## test postive z-axis | ||
rosbag: check_altitude_z_pos | ||
input: arm drone. use hand to thrust drone in positive z-axis | ||
output: | ||
Safety Failure: Crash predicted based on Z-axis acceleration | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: 18.283687766 | ||
INFO: Sending DISARM command | ||
|
||
## test negative z-axis | ||
rosbag: check_accel_z_neg | ||
input: arm drone. use hand to thrust drone in negative z-axis | ||
output: | ||
Safety Failure: Crash predicted based on Z-axis acceleration | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: -15.4114765005 | ||
INFO: Sending DISARM command | ||
|
||
## test pos x,y direction | ||
rosbag: check_accel_x_y_pos | ||
input: arm drone. use hand to thrust drone in positive x and y direction | ||
output: | ||
Safety Failure: Crash predicted based on X-axis acceleration | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: 10.3531743647 | ||
INFO: Sending DISARM command | ||
|
||
# test check_angular_velocities | ||
|
||
## test positive roll | ||
input: arm drone and roll hard right by hand | ||
output: | ||
Safety Failure: Crash predicted based on roll rate | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: 6.18942309104 | ||
INFO: Sending DISARM command | ||
|
||
## test negative roll | ||
input: arm drone and roll hard left by hand | ||
output: | ||
Safety Failure: Crash predicted based on roll rate | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: -2.91523945217 | ||
INFO: Sending DISARM command | ||
|
||
## test positive pitch | ||
input: arm drone and pitch nose up hard by hand | ||
output: | ||
Safety Failure: Crash predicted based on pitch rate | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: 4.86890767357 | ||
INFO: Sending DISARM command | ||
|
||
## test negative pitch | ||
input: arm drone and pitch nose down hard by hand | ||
output: | ||
Safety Failure: Crash predicted based on pitch rate | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: -3.13265799573 | ||
INFO: Sending DISARM command | ||
|
||
## test clockwise yaw | ||
input: arm drone and yaw hard clockwise by hand | ||
expected: safety failure due to negative yaw rate (since math convention is ccw=positive yaw) | ||
output: | ||
Safety Failure: Crash predicted based on yaw rate | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: -3.03257311458 | ||
INFO: Sending DISARM command | ||
|
||
## test counter-clockwise yaw | ||
input: arm drone and yaw hard counter-clockwise by hand | ||
expected: safety failure due to postive yaw rate (since math convention is ccw=positive yaw) | ||
output: | ||
Safety Failure: Crash predicted based on yaw rate | ||
INFO: if you would like to change the threshold, then edit the value in thresholds.yaml | ||
INFO: value before cutoff: 4.81545352283 | ||
INFO: Sending DISARM command | ||
|