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Add SITL tests for control allocation

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This commit is contained in:
Alessandro Simovic
2021-11-26 16:52:14 +01:00
committed by Beat Küng
parent 0f860045f7
commit 06f69cd469
9 changed files with 597 additions and 4 deletions
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17
test/mavsdk_tests/autopilot_tester.h
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2021 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
@@ -101,6 +101,7 @@ public:
void check_home_within(float acceptance_radius_m);
void check_home_not_within(float min_distance_m);
void set_takeoff_altitude(const float altitude_m);
void set_rtl_altitude(const float altitude_m);
void set_height_source(HeightSource height_source);
void set_rc_loss_exception(RcLossException mask);
void arm();
@@ -109,7 +110,9 @@ public:
void transition_to_fixedwing();
void transition_to_multicopter();
void wait_until_disarmed(std::chrono::seconds timeout_duration = std::chrono::seconds(60));
void wait_until_hovering();
void wait_until_hovering(); // TODO: name suggests, that function waits for drone velocity to be zero and not just drone in the air
void wait_until_altitude(float rel_altitude_m, std::chrono::seconds timeout);
void wait_until_speed_lower_than(float speed, std::chrono::seconds timeout);
void prepare_square_mission(MissionOptions mission_options);
void prepare_straight_mission(MissionOptions mission_options);
void execute_mission();
@@ -121,6 +124,7 @@ public:
void load_qgc_mission_raw_and_move_here(const std::string &plan_file);
void execute_mission_raw();
void execute_rtl();
void execute_land();
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();
@@ -129,7 +133,16 @@ public:
void request_ground_truth();
void check_mission_item_speed_above(int item_index, float min_speed_m_s);
void check_tracks_mission(float corridor_radius_m = 1.5f);
void start_checking_altitude(const float max_deviation_m);
void stop_checking_altitude();
// Blocking call to get the drone's current position in NED frame
std::array<float, 3> get_current_position_ned();
protected:
mavsdk::Param *getParams() const { return _param.get();}
mavsdk::Telemetry *getTelemetry() const { return _telemetry.get();}
std::shared_ptr<System> get_system() { return _mavsdk.systems().at(0);}
private:
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();