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mavsdk: Add integration tests for RTL with approaches

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This commit is contained in:
Konrad
2023-10-23 09:34:26 +02:00
committed by Roman Bapst
parent 24f59dd465
commit 654e885003
8 changed files with 676 additions and 46 deletions
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test/mavsdk_tests/autopilot_tester_rtl.h
+18
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@@ -35,7 +35,10 @@
#include "autopilot_tester.h"
#include <vector>
#include <mavsdk/mavsdk.h>
#include <mavsdk/geometry.h>
#include <mavsdk/plugins/action/action.h>
@@ -46,10 +49,25 @@ public:
~AutopilotTesterRtl() = default;
void set_rtl_type(int rtl_type);
void set_rtl_appr_force(int rtl_appr_force);
void set_takeoff_land_requirements(int req);
void add_home_to_rally_point();
void add_home_with_approaches_to_rally_point();
void add_local_rally_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate);
void add_local_rally_with_approaches_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate
local_coordinate);
void connect(const std::string uri);
void check_rally_point_within(float acceptance_radius_m);
void check_rtl_approaches(float acceptance_radius_m, std::chrono::seconds timeout);
/* NOTE mavsdk mission upload should be used when possible. Only use this when uploading a mission which is not yet suppported by mavsdk.
* Used here to to test the new way of uploading approaches for rally points. */
void upload_custom_mission(std::chrono::seconds timeout);
private:
void add_approaches_to_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate);
std::unique_ptr<mavsdk::Failure> _failure{};
std::vector<mavlink_mission_item_int_t> _custom_mission{};
std::vector<mavsdk::geometry::CoordinateTransformation::LocalCoordinate> _rally_points{};
};