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mavsdk_tests: added posctl/altctl test

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This commit is contained in:
Julian Oes
2020-07-31 09:45:12 +02:00
committed by Daniel Agar
parent 0a7dcf26d5
commit ca0f26a003
4 changed files with 174 additions and 5 deletions
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7
test/mavsdk_tests/autopilot_tester.h
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@@ -38,12 +38,14 @@
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/failure/failure.h>
#include <mavsdk/plugins/info/info.h>
#include <mavsdk/plugins/manual_control/manual_control.h>
#include <mavsdk/plugins/mission/mission.h>
#include <mavsdk/plugins/offboard/offboard.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/param/param.h>
#include "catch2/catch.hpp"
#include <chrono>
#include <iostream>
#include <memory>
#include <thread>
@@ -72,6 +74,7 @@ public:
void wait_until_ready_local_position_only();
void store_home();
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_height_source(HeightSource height_source);
void arm();
@@ -93,6 +96,8 @@ public:
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();
void fly_forward_in_posctl();
void fly_forward_in_altctl();
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 = 1.0f);
@@ -106,6 +111,7 @@ private:
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);
@@ -136,6 +142,7 @@ private:
std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Failure> _failure{};
std::unique_ptr<mavsdk::Info> _info{};
std::unique_ptr<mavsdk::ManualControl> _manual_control{};
std::unique_ptr<mavsdk::Mission> _mission{};
std::unique_ptr<mavsdk::Offboard> _offboard{};
std::unique_ptr<mavsdk::Param> _param{};