forked from Archive/PX4-Autopilot
125 lines
4.1 KiB
C++
125 lines
4.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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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#include <chrono>
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#include "autopilot_tester_follow_me.h"
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TEST_CASE("Follow target - Position streaming", "[multicopter]")
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{
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const bool stream_velocity = false;
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AutopilotTesterFollowMe tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.arm();
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const float takeoff_altitude = 10.0;
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tester.set_takeoff_altitude(takeoff_altitude);
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tester.takeoff();
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tester.wait_until_hovering();
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tester.straight_line_test(stream_velocity);
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tester.land();
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
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tester.wait_until_disarmed(until_disarmed_timeout);
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}
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TEST_CASE("Follow target - Position and velocity streaming", "[multicopter]")
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{
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const bool stream_velocity = true;
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AutopilotTesterFollowMe tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.arm();
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const float takeoff_altitude = 10.0;
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tester.set_takeoff_altitude(takeoff_altitude);
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tester.takeoff();
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tester.wait_until_hovering();
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tester.straight_line_test(stream_velocity);
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tester.land();
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
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tester.wait_until_disarmed(until_disarmed_timeout);
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}
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TEST_CASE("Follow target - Velocity streaming only", "[multicopter]")
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{
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// Streaming only velocity should not work, the drone should not move.
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// There needs to be at least one position message for follow-me
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// to be able to integrate velocity.
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AutopilotTesterFollowMe tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.arm();
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const float takeoff_altitude = 10.0;
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tester.set_takeoff_altitude(takeoff_altitude);
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tester.takeoff();
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tester.wait_until_hovering();
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tester.stream_velocity_only();
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tester.land();
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
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tester.wait_until_disarmed(until_disarmed_timeout);
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tester.check_home_within(1.0f);
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}
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TEST_CASE("Follow target - RC Adjustment", "[multicopter]")
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{
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AutopilotTesterFollowMe tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.arm();
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const float takeoff_altitude = 10.0;
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tester.set_takeoff_altitude(takeoff_altitude);
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tester.takeoff();
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tester.wait_until_hovering();
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tester.rc_adjustment_test();
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tester.land();
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
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tester.wait_until_disarmed(until_disarmed_timeout);
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}
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