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missionFeasibilityChecker: Fix tests

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Konrad 2024-03-06 14:29:42 +01:00 committed by Silvan Fuhrer
parent acd750e033
commit 1aa26a5a91
1 changed files with 14 additions and 0 deletions
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14
src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp
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@ -65,6 +65,18 @@ public:
orb_publish(ORB_ID(home_position), home_pub, &home);
}
void publishInvalidHome()
{
home_position_s home = {};
home.alt = 0.f;
home.valid_alt = false;
home.lat = 0.;
home.lon = 0.;
home.valid_hpos = false;
orb_advert_t home_pub = orb_advertise(ORB_ID(home_position), &home);
orb_publish(ORB_ID(home_position), home_pub, &home);
}
void publishCurrentPosition(double lat, double lon)
{
vehicle_global_position_s gpos = {};
@ -122,6 +134,7 @@ TEST_F(FeasibilityCheckerTest, mission_item_validity)
ASSERT_EQ(ret, false);
checker.reset();
checker.publishInvalidHome();
mission_item.nav_cmd = NAV_CMD_TAKEOFF;
mission_item.altitude_is_relative = true;
ret = checker.processNextItem(mission_item, 0, 5);
@ -190,6 +203,7 @@ TEST_F(FeasibilityCheckerTest, check_below_home)
// this is done to invalidate the home position
checker.reset();
checker.publishInvalidHome();
checker.publishLanded(true);
checker.processNextItem(mission_item, 0, 1);