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mavsdk_tests: move waypoints to vehicle position 

This way it shouldn't matter where the test is run.
This commit is contained in:
Julian Oes 2021-03-26 11:06:31 +01:00 committed by Daniel Agar
parent 9eadabcb02
commit cd66a79747
3 changed files with 25 additions and 4 deletions
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24
test/mavsdk_tests/autopilot_tester.cpp
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@ -326,11 +326,13 @@ Mission::MissionItem AutopilotTester::create_mission_item(
return mission_item;
}
void AutopilotTester::load_qgc_mission_raw(const std::string &plan_file)
void AutopilotTester::load_qgc_mission_raw_and_move_here(const std::string &plan_file)
{
const auto import_result = _mission_raw->import_qgroundcontrol_mission(plan_file);
auto import_result = _mission_raw->import_qgroundcontrol_mission(plan_file);
REQUIRE(import_result.first == MissionRaw::Result::Success);
move_mission_raw_here(import_result.second.mission_items);
REQUIRE(_mission_raw->upload_mission(import_result.second.mission_items) == MissionRaw::Result::Success);
}
@ -654,6 +656,24 @@ void AutopilotTester::wait_for_mission_raw_finished(std::chrono::seconds timeout
REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
}
void AutopilotTester::move_mission_raw_here(std::vector<MissionRaw::MissionItem> &mission_items)
{
const auto position = _telemetry->position();
REQUIRE(std::isfinite(position.latitude_deg));
REQUIRE(std::isfinite(position.longitude_deg));
auto offset_x = mission_items[0].x - static_cast<int32_t>(1e7 * position.latitude_deg);
auto offset_y = mission_items[1].y - static_cast<int32_t>(1e7 * position.longitude_deg);
for (auto &item : mission_items) {
if (item.frame == 3) { // MAV_FRAME_GLOBAL_RELATIVE_ALT
item.x -= offset_x;
}
item.y -= offset_y;
}
}
void AutopilotTester::report_speed_factor()
{
// We check the exit flag more often than the speed factor.

3
test/mavsdk_tests/autopilot_tester.h
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@ -111,7 +111,7 @@ public:
void execute_mission_and_get_mag_stuck();
void execute_mission_and_lose_baro();
void execute_mission_and_get_baro_stuck();
void load_qgc_mission_raw(const std::string &plan_file);
void load_qgc_mission_raw_and_move_here(const std::string &plan_file);
void execute_mission_raw();
void execute_rtl();
void offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m = 0.3f,
@ -140,6 +140,7 @@ private:
void wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout);
void wait_for_mission_finished(std::chrono::seconds timeout);
void wait_for_mission_raw_finished(std::chrono::seconds timeout);
void move_mission_raw_here(std::vector<mavsdk::MissionRaw::MissionItem> &mission_items);
void report_speed_factor();

2
test/mavsdk_tests/test_vtol_mission.cpp
View File

@ -38,8 +38,8 @@ TEST_CASE("Fly VTOL mission", "[vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
tester.load_qgc_mission_raw("test/mavsdk_tests/vtol_mission_allmend.plan");
tester.wait_until_ready();
tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_allmend.plan");
tester.arm();
tester.execute_mission_raw();
tester.wait_until_disarmed();