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test_vtol_mission: Add additional testing for VTOL RTL and reverse mission RTL

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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>
This commit is contained in:
RomanBapst
2023-01-18 11:34:56 +03:00
committed by Silvan Fuhrer
parent 9a48d375ce
commit 6fca984c3f
8 changed files with 436 additions and 10 deletions
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5
test/mavsdk_tests/autopilot_tester.h
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@@ -138,9 +138,11 @@ 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 check_tracks_mission_raw(float corridor_radius_m = 1.f, bool reverse = false);
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);
void execute_rtl_when_reaching_mission_sequence(int sequence_number);
// Blocking call to get the drone's current position in NED frame
std::array<float, 3> get_current_position_ned();
@@ -200,7 +202,8 @@ private:
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);
void start_and_wait_for_first_mission_item();
void start_and_wait_for_mission_sequence(int sequence_number);
void start_and_wait_for_mission_sequence_raw(int sequence_number);
void wait_for_flight_mode(Telemetry::FlightMode flight_mode, std::chrono::seconds timeout);
void wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout);
void wait_for_mission_finished(std::chrono::seconds timeout);