mavsdk_tests: bump library from v0.24.0 to v0.27.0

.github/workflows/sitl_tests.yml

@@ -25,9 +25,9 @@ jobs:
       with:
         token: ${{ secrets.ACCESS_TOKEN }}
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.24.0/mavsdk_0.24.0_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.27.0/mavsdk_0.27.0_ubuntu18.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.24.0_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.27.0_ubuntu18.04_amd64.deb
     - uses: actions/cache@v1.1.0
       id: ccache-persistence
       with:

test/mavsdk_tests/autopilot_tester.cpp

@@ -40,7 +40,7 @@ std::string connection_url {"udp://"};
 void AutopilotTester::connect(const std::string uri)
 {
 	ConnectionResult ret = _mavsdk.add_any_connection(uri);
-	REQUIRE(ret == ConnectionResult::SUCCESS);
+	REQUIRE(ret == ConnectionResult::Success);
 
 	std::cout << "Waiting for system connect" << std::endl;
 	REQUIRE(poll_condition_with_timeout(
@@ -67,11 +67,11 @@ void AutopilotTester::wait_until_ready_local_position_only()
 	CHECK(poll_condition_with_timeout(
 	[this]() {
 		return
-			(_telemetry->health().gyrometer_calibration_ok &&
+			(_telemetry->health().is_gyrometer_calibration_ok &&
-			 _telemetry->health().accelerometer_calibration_ok &&
+			 _telemetry->health().is_accelerometer_calibration_ok &&
-			 _telemetry->health().magnetometer_calibration_ok &&
+			 _telemetry->health().is_magnetometer_calibration_ok &&
-			 _telemetry->health().level_calibration_ok &&
+			 _telemetry->health().is_level_calibration_ok &&
-			 _telemetry->health().local_position_ok);
+			 _telemetry->health().is_local_position_ok);
 	}, std::chrono::seconds(20)));
 }
 
@@ -93,40 +93,40 @@ void AutopilotTester::check_home_within(float acceptance_radius_m)
 
 void AutopilotTester::set_takeoff_altitude(const float altitude_m)
 {
-	CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(altitude_m));
+	CHECK(Action::Result::Success == _action->set_takeoff_altitude(altitude_m));
 	const auto result = _action->get_takeoff_altitude();
-	CHECK(result.first == Action::Result::SUCCESS);
+	CHECK(result.first == Action::Result::Success);
 	CHECK(result.second == Approx(altitude_m));
 }
 
 void AutopilotTester::arm()
 {
 	const auto result = _action->arm();
-	REQUIRE(result == Action::Result::SUCCESS);
+	REQUIRE(result == Action::Result::Success);
 }
 
 void AutopilotTester::takeoff()
 {
 	const auto result = _action->takeoff();
-	REQUIRE(result == Action::Result::SUCCESS);
+	REQUIRE(result == Action::Result::Success);
 }
 
 void AutopilotTester::land()
 {
 	const auto result = _action->land();
-	REQUIRE(result == Action::Result::SUCCESS);
+	REQUIRE(result == Action::Result::Success);
 }
 
 void AutopilotTester::transition_to_fixedwing()
 {
 	const auto result = _action->transition_to_fixedwing();
-	REQUIRE(result == Action::Result::SUCCESS);
+	REQUIRE(result == Action::Result::Success);
 }
 
 void AutopilotTester::transition_to_multicopter()
 {
 	const auto result = _action->transition_to_multicopter();
-	REQUIRE(result == Action::Result::SUCCESS);
+	REQUIRE(result == Action::Result::Success);
 }
 
 void AutopilotTester::wait_until_disarmed(std::chrono::seconds timeout_duration)
@@ -138,26 +138,26 @@ void AutopilotTester::wait_until_disarmed(std::chrono::seconds timeout_duration)
 void AutopilotTester::wait_until_hovering()
 {
 	REQUIRE(poll_condition_with_timeout(
-	[this]() { return _telemetry->landed_state() == Telemetry::LandedState::IN_AIR; }, std::chrono::seconds(20)));
+	[this]() { return _telemetry->landed_state() == Telemetry::LandedState::InAir; }, std::chrono::seconds(20)));
 }
 
 void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
 {
 	const auto ct = get_coordinate_transformation();
 
-	std::vector<std::shared_ptr<MissionItem>> mission_items {};
+	Mission::MissionPlan mission_plan {};
-	mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
+	mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
-	mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m},
+	mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m},
-				mission_options, ct));
+					     mission_options, ct));
-	mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
+	mission_plan.mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
 
 	_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
 
 	std::promise<void> prom;
 	auto fut = prom.get_future();
 
-	_mission->upload_mission_async(mission_items, [&prom](Mission::Result result) {
+	_mission->upload_mission_async(mission_plan, [&prom](Mission::Result result) {
-		REQUIRE(Mission::Result::SUCCESS == result);
+		REQUIRE(Mission::Result::Success == result);
 		prom.set_value();
 	});
 
@@ -170,48 +170,52 @@ void AutopilotTester::execute_mission()
 	auto fut = prom.get_future();
 
 	_mission->start_mission_async([&prom](Mission::Result result) {
-		REQUIRE(Mission::Result::SUCCESS == result);
+		REQUIRE(Mission::Result::Success == result);
 		prom.set_value();
 	});
 
 	// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
 
 	REQUIRE(poll_condition_with_timeout(
-	[this]() { return _mission->mission_finished(); }, std::chrono::seconds(60)));
+	[this]() {
+		auto result = _mission->is_mission_finished();
+		return result.first == Mission::Result::Success && result.second;
+	}, std::chrono::seconds(60)));
 
 	REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
 }
 
 CoordinateTransformation AutopilotTester::get_coordinate_transformation()
 {
-	const auto home = _telemetry->home_position();
+	const auto home = _telemetry->home();
 	CHECK(std::isfinite(home.latitude_deg));
 	CHECK(std::isfinite(home.longitude_deg));
 	return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
 }
 
-std::shared_ptr<MissionItem>  AutopilotTester::create_mission_item(
+Mission::MissionItem  AutopilotTester::create_mission_item(
 	const CoordinateTransformation::LocalCoordinate &local_coordinate,
 	const MissionOptions &mission_options,
 	const CoordinateTransformation &ct)
 {
-	auto mission_item = std::make_shared<MissionItem>();
+	auto mission_item = Mission::MissionItem{};
 	const auto pos_north = ct.global_from_local(local_coordinate);
-	mission_item->set_position(pos_north.latitude_deg, pos_north.longitude_deg);
+	mission_item.latitude_deg = pos_north.latitude_deg;
-	mission_item->set_relative_altitude(mission_options.relative_altitude_m);
+	mission_item.longitude_deg = pos_north.longitude_deg;
+	mission_item.relative_altitude_m = mission_options.relative_altitude_m;
 	return mission_item;
 }
 
 void AutopilotTester::execute_rtl()
 {
-	REQUIRE(Action::Result::SUCCESS == _action->return_to_launch());
+	REQUIRE(Action::Result::Success == _action->return_to_launch());
 }
 
-void AutopilotTester::offboard_goto(const Offboard::PositionNEDYaw &target, float acceptance_radius_m,
+void AutopilotTester::offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m,
 				    std::chrono::seconds timeout_duration)
 {
 	_offboard->set_position_ned(target);
-	REQUIRE(_offboard->start() == Offboard::Result::SUCCESS);
+	REQUIRE(_offboard->start() == Offboard::Result::Success);
 	CHECK(poll_condition_with_timeout(
 	[ = ]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration));
 	std::cout << "Target position reached" << std::endl;
@@ -219,7 +223,7 @@ void AutopilotTester::offboard_goto(const Offboard::PositionNEDYaw &target, floa
 
 void AutopilotTester::offboard_land()
 {
-	Offboard::VelocityNEDYaw land_velocity;
+	Offboard::VelocityNedYaw land_velocity;
 	land_velocity.north_m_s = 0.0f;
 	land_velocity.east_m_s = 0.0f;
 	land_velocity.down_m_s = 1.0f;
@@ -227,25 +231,25 @@ void AutopilotTester::offboard_land()
 	_offboard->set_velocity_ned(land_velocity);
 }
 
-bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m)
+bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m)
 {
-	Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position;
+	Telemetry::PositionNed est_pos = _telemetry->position_velocity_ned().position;
 	return sq(est_pos.north_m - target_pos.north_m) +
 	       sq(est_pos.east_m - target_pos.east_m) +
 	       sq(est_pos.down_m - target_pos.down_m)  < sq(acceptance_radius_m);
 }
 
-bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw &target_pos,
+bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos,
 		float acceptance_radius_m)
 {
-	Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position;
+	Telemetry::PositionNed est_pos = _telemetry->position_velocity_ned().position;
 	return sq(est_pos.north_m - target_pos.north_m) +
 	       sq(est_pos.east_m - target_pos.east_m) < sq(acceptance_radius_m);
 }
 
 void AutopilotTester::request_ground_truth()
 {
-	CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::SUCCESS);
+	CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::Success);
 }
 
 bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos,
@@ -260,7 +264,10 @@ bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry:
 	Telemetry::GroundTruth current_pos = _telemetry->ground_truth();
 	CHECK(std::isfinite(current_pos.latitude_deg));
 	CHECK(std::isfinite(current_pos.longitude_deg));
-	LocalCoordinate local_pos = ct.local_from_global(GlobalCoordinate{current_pos.latitude_deg, current_pos.longitude_deg});
+	GlobalCoordinate global_current;
+	global_current.latitude_deg = current_pos.latitude_deg;
+	global_current.longitude_deg = current_pos.longitude_deg;
+	LocalCoordinate local_pos = ct.local_from_global(global_current);
 	const double distance = sqrt(sq(local_pos.north_m) + sq(local_pos.east_m));
 	const bool pass = distance < acceptance_radius_m;
 

test/mavsdk_tests/autopilot_tester.h

@@ -74,7 +74,7 @@ public:
 	void prepare_square_mission(MissionOptions mission_options);
 	void execute_mission();
 	void execute_rtl();
-	void offboard_goto(const Offboard::PositionNEDYaw &target, float acceptance_radius_m = 0.3f,
+	void offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m = 0.3f,
 			   std::chrono::seconds timeout_duration = std::chrono::seconds(60));
 	void offboard_land();
 	void request_ground_truth();
@@ -82,14 +82,14 @@ public:
 
 private:
 	mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
-	std::shared_ptr<mavsdk::MissionItem> create_mission_item(
+	mavsdk::Mission::MissionItem create_mission_item(
 		const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate,
 		const MissionOptions &mission_options,
 		const mavsdk::geometry::CoordinateTransformation &ct);
 
 	bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
-	bool estimated_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m);
+	bool estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
-	bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m);
+	bool estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m);
 
 	mavsdk::Mavsdk _mavsdk{};
 	std::unique_ptr<mavsdk::Telemetry> _telemetry{};

test/mavsdk_tests/test_multicopter_offboard.cpp

@@ -42,7 +42,7 @@
 TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
 {
 	AutopilotTester tester;
-	Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
+	Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
 	tester.connect(connection_url);
 	tester.wait_until_ready_local_position_only();
 	tester.store_home();
@@ -57,10 +57,10 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
 TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
 {
 	AutopilotTester tester;
-	Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
+	Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
-	Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
+	Offboard::PositionNedYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
-	Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
+	Offboard::PositionNedYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
-	Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
+	Offboard::PositionNedYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
 	tester.connect(connection_url);
 	tester.wait_until_ready_local_position_only();
 	tester.store_home();