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mavsdk_tests: add first GPS lost failsafe test

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This commit is contained in:
Julian Oes
2020-06-11 14:18:09 +02:00
committed by Daniel Agar
parent db87ba3a1c
commit 3c499fc3a2
4 changed files with 96 additions and 2 deletions
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test/mavsdk_tests/autopilot_tester.h
+6 -1
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@@ -36,9 +36,11 @@
#include <mavsdk/mavsdk.h>
#include <mavsdk/geometry.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/failure/failure.h>
#include <mavsdk/plugins/mission/mission.h>
#include <mavsdk/plugins/offboard/offboard.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/param/param.h>
#include "catch2/catch.hpp"
#include <chrono>
#include <memory>
@@ -75,6 +77,7 @@ public:
void prepare_square_mission(MissionOptions mission_options);
void prepare_straight_mission(MissionOptions mission_options);
void execute_mission();
void execute_mission_and_lose_gps();
void execute_rtl();
void offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m = 0.3f,
std::chrono::seconds timeout_duration = std::chrono::seconds(60));
@@ -96,10 +99,12 @@ private:
bool estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
mavsdk::Mavsdk _mavsdk{};
std::unique_ptr<mavsdk::Telemetry> _telemetry{};
std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Failure> _failure{};
std::unique_ptr<mavsdk::Mission> _mission{};
std::unique_ptr<mavsdk::Offboard> _offboard{};
std::unique_ptr<mavsdk::Param> _param{};
std::unique_ptr<mavsdk::Telemetry> _telemetry{};
Telemetry::GroundTruth _home{NAN, NAN, NAN};
};