px4-firmware/test/mavsdk_tests/autopilot_tester_rtl.h

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#pragma once

#include "autopilot_tester.h"

#include <vector>

#include <mavsdk/mavsdk.h>
#include <mavsdk/geometry.h>
#include <mavsdk/plugins/action/action.h>


class AutopilotTesterRtl : public AutopilotTester
{
public:
	AutopilotTesterRtl() = default;
	~AutopilotTesterRtl() = default;

	void set_rtl_type(int rtl_type);
	void set_rtl_appr_force(int rtl_appr_force);
	void set_takeoff_land_requirements(int req);
	void add_home_to_rally_point();
	void add_home_with_approaches_to_rally_point();
	void add_local_rally_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate);
	void add_local_rally_with_approaches_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate
			local_coordinate);
	void connect(const std::string uri);
	void check_rally_point_within(float acceptance_radius_m);
	void check_rtl_approaches(float acceptance_radius_m, std::chrono::seconds timeout);
	/* NOTE mavsdk mission upload should be used when possible. Only use this when uploading a mission which is not yet suppported by mavsdk.
	 * Used here to to test the new way of uploading approaches for rally points. */
	void upload_custom_mission(std::chrono::seconds timeout);


private:
	void add_approaches_to_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate);

	std::unique_ptr<mavsdk::Failure> _failure{};
	std::vector<mavlink_mission_item_int_t> _custom_mission{};
	std::vector<mavsdk::geometry::CoordinateTransformation::LocalCoordinate> _rally_points{};
};