uORB_tests: relax latency threshold on non-realtime SITL

PX4 · Nov 20, 2024 · ada2bb4 · ada2bb4
1 parent 8e28862
commit ada2bb4
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp
@@ -146,7 +146,14 @@ int uORBTest::UnitTest::pubsublatency_main()
 
 	pubsubtest_passed = true;
 
-	if (mean > 150.0f) {
+#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
+	// relaxed on SITL (non-realtime)
+	const float kMaxMeanUs = 1000.f; // 1000 microseconds
+#else
+	const float kMaxMeanUs = 150.f; // 150 microseconds
+#endif
+
+	if (mean > kMaxMeanUs) {
 		pubsubtest_res = PX4_ERROR;
 
 	} else {