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mavsdk: Add integration tests for RTL with approaches

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This commit is contained in:
Konrad
2023-10-31 14:16:02 +01:00
committed by Roman Bapst
parent 24f59dd465
commit 654e885003
8 changed files with 676 additions and 46 deletions
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test/mavsdk_tests/autopilot_tester.cpp
+16
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@@ -604,6 +604,22 @@ void AutopilotTester::check_tracks_mission_raw(float corridor_radius_m, bool rev
});
}
void AutopilotTester::check_mission_land_within(float acceptance_radius_m)
{
auto mission_raw = _mission_raw->download_mission();
CHECK(mission_raw.first == MissionRaw::Result::Success);
// Get last mission item
MissionRaw::MissionItem land_mission_item = mission_raw.second.back();
bool is_landing_item = (land_mission_item.command == 85) || (land_mission_item.command == 21);
CHECK(is_landing_item);
Telemetry::GroundTruth land_coord{};
land_coord.latitude_deg = static_cast<double>(land_mission_item.x) / 1E7;
land_coord.longitude_deg = static_cast<double>(land_mission_item.y) / 1E7;
CHECK(ground_truth_horizontal_position_close_to(land_coord, acceptance_radius_m));
}
void AutopilotTester::check_tracks_mission(float corridor_radius_m)
{
auto mission = _mission->download_mission();