test_vtol_mission: Add additional testing for VTOL RTL and reverse mission RTL

mavsdk-test: added a vtol mission without a landing at the end (used for reversed RTL)
math_helpers: added function to compute local position from a raw mission item

Signed-off-by: RomanBapst <bapstroman@gmail.com>

test/mavsdk_tests/autopilot_tester_rtl.h

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "autopilot_tester.h"
+
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/plugins/action/action.h>
+
+
+class AutopilotTesterRtl : public AutopilotTester
+{
+public:
+	AutopilotTesterRtl() = default;
+	~AutopilotTesterRtl() = default;
+
+	void set_rtl_type(int rtl_type);
+	void set_takeoff_land_requirements(int req);
+	void connect(const std::string uri);
+
+
+private:
+	std::unique_ptr<mavsdk::Failure> _failure{};
+};