UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-26 16:28:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavsdk: Add integration tests for RTL with approaches

Browse Source
This commit is contained in:
Konrad
2023-10-23 09:34:26 +02:00
committed by Roman Bapst
parent 24f59dd465
commit 654e885003
8 changed files with 676 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
test/mavsdk_tests/autopilot_tester.h
View File

@@ -141,6 +141,7 @@ public:
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 check_tracks_mission_raw(float corridor_radius_m = 1.f, bool reverse = false);
void check_mission_land_within(float acceptance_radius_m);
void start_checking_altitude(const float max_deviation_m);
void stop_checking_altitude();
void check_current_altitude(float target_rel_altitude_m, float max_distance_m = 1.5f);
@@ -164,6 +165,7 @@ protected:
MavlinkPassthrough *getMavlinkPassthrough() const { return _mavlink_passthrough.get();}
std::shared_ptr<System> get_system() { return _mavsdk.systems().at(0);}
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
const Telemetry::GroundTruth &getHome()
{
@@ -205,7 +207,6 @@ private:
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 ground_truth_horizontal_position_far_from(const Telemetry::GroundTruth &target_pos, float min_distance_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);