mirror of
https://github.com/PX4/PX4-Autopilot.git
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96 lines
3.9 KiB
C++
96 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2026 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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// TODO: Add test cases for these scenarios:
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// - "Return type 6 home within reach with no rally points", "[multicopter]"
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// - "Return type 6 home within reach with rally points and home is the closest", "[multicopter]"
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// - "Return type 6 home within reach with rally points and home is not the closest", "[multicopter]"
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// - "Return type 6 home out of reach with rally points and at least one rally point within reach", "[multicopter]"
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TEST_CASE("RTL_TYPE=6 time_remaining_s NaN with no rally points", "[multicopter]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.set_rtl_type(6);
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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tester.execute_rtl();
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tester.wait_until_disarmed(std::chrono::seconds(90));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL_TYPE=6 time_remaining_s NaN with rally points and home is closest", "[multicopter]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.set_rtl_type(6);
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// Rally is farther than home; vehicle is above home after takeoff so home wins on distance
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tester.add_local_rally_point({100., -100.});
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tester.upload_rally_points();
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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tester.execute_rtl();
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tester.wait_until_disarmed(std::chrono::seconds(90));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL_TYPE=6 time_remaining_s NaN with rally points and home is not closest", "[multicopter]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.set_rtl_type(6);
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// Rally point is between the vehicle and home, so rally point wins on distance
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tester.add_local_rally_point({300., 0.});
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tester.upload_rally_points();
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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// Distance to home is 400m, distance to rally is 100m
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tester.offboard_goto({400.f, 0.f, -20.f}, 5.f, std::chrono::seconds(60));
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tester.execute_rtl();
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_rally_point_within(5.0f);
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tester.check_home_not_within(20.0f);
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}
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