mirror of
https://github.com/PX4/PX4-Autopilot.git
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6fca984c3f
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>
58 lines
2.2 KiB
C++
58 lines
2.2 KiB
C++
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/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "autopilot_tester_rtl.h"
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#include "math_helpers.h"
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#include <iostream>
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#include <future>
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#include <thread>
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#include <unistd.h>
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void AutopilotTesterRtl::connect(const std::string uri)
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{
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AutopilotTester::connect(uri);
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}
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void AutopilotTesterRtl::set_rtl_type(int rtl_type)
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{
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CHECK(getParams()->set_param_int("RTL_TYPE", rtl_type) == Param::Result::Success);
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}
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void AutopilotTesterRtl::set_takeoff_land_requirements(int req)
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{
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CHECK(getParams()->set_param_int("MIS_TKO_LAND_REQ", req) == Param::Result::Success);
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}
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