forked from Archive/PX4-Autopilot
74 lines
3.2 KiB
C++
74 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "autopilot_tester.h"
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#include <vector>
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#include <mavsdk/mavsdk.h>
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#include <mavsdk/geometry.h>
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#include <mavsdk/plugins/action/action.h>
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class AutopilotTesterRtl : public AutopilotTester
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{
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public:
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AutopilotTesterRtl() = default;
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~AutopilotTesterRtl() = default;
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void set_rtl_type(int rtl_type);
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void set_rtl_appr_force(int rtl_appr_force);
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void set_takeoff_land_requirements(int req);
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void add_home_to_rally_point();
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void add_home_with_approaches_to_rally_point();
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void add_local_rally_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate);
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void add_local_rally_with_approaches_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate
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local_coordinate);
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void connect(const std::string uri);
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void check_rally_point_within(float acceptance_radius_m);
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void check_rtl_approaches(float acceptance_radius_m, std::chrono::seconds timeout);
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/* NOTE mavsdk mission upload should be used when possible. Only use this when uploading a mission which is not yet suppported by mavsdk.
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* Used here to to test the new way of uploading approaches for rally points. */
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void upload_custom_mission(std::chrono::seconds timeout);
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private:
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void add_approaches_to_point(mavsdk::geometry::CoordinateTransformation::LocalCoordinate local_coordinate);
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std::unique_ptr<mavsdk::Failure> _failure{};
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std::vector<mavlink_mission_item_int_t> _custom_mission{};
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std::vector<mavsdk::geometry::CoordinateTransformation::LocalCoordinate> _rally_points{};
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};
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