px4-firmware/test/mavsdk_tests/autopilot_tester_rtl.h

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/****************************************************************************
*
* Copyright (c) 2023 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#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{};
};