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mavsdk: Add integration tests for RTL with approaches
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Konrad
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/****************************************************************************
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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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#include "autopilot_tester_rtl.h"
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TEST_CASE("RTL direct Home", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.wait_until_disarmed(std::chrono::seconds(90));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL direct Mission Land", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// Do not allow home
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tester.set_rtl_type(1);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.wait_until_disarmed(std::chrono::seconds(90));
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tester.check_mission_land_within(5.0f);
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}
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TEST_CASE("RTL with Mission Landing", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan");
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// Vehicle should follow the mission and use the mission landing
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tester.set_rtl_type(2);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.check_tracks_mission_raw(35.0f);
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tester.wait_until_disarmed(std::chrono::seconds(95));
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}
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TEST_CASE("RTL with Reverse Mission", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.set_takeoff_land_requirements(0);
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_without_landing.plan");
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// vehicle should follow the mission in reverse and land at the home position // TODO enable checks again if MAVSDK can handle mission in reverse order
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tester.set_rtl_type(2);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(6);
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//tester.check_tracks_mission_raw(35.0f);
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tester.wait_until_disarmed(std::chrono::seconds(90));
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}
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TEST_CASE("RTL direct home without approaches", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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tester.set_rtl_appr_force(0);
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// reupload rally points with approaches
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tester.add_home_to_rally_point();
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tester.upload_custom_mission(std::chrono::seconds(10));
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(4);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL direct home without approaches forced", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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tester.set_rtl_appr_force(1);
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// reupload rally points with approaches
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tester.add_home_to_rally_point();
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tester.upload_custom_mission(std::chrono::seconds(10));
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(4);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_mission_land_within(5.f);
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}
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TEST_CASE("RTL direct home with approaches", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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// reupload rally points with approaches
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tester.add_home_with_approaches_to_rally_point();
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tester.upload_custom_mission(std::chrono::seconds(10));
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(4);
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tester.check_rtl_approaches(5., std::chrono::seconds(60));
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL direct home not as rally point", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(1);
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// reupload rally points with approaches
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tester.add_home_with_approaches_to_rally_point();
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tester.upload_custom_mission(std::chrono::seconds(10));
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_mission_land_within(5.0f);
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}
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TEST_CASE("RTL direct rally without approaches", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// Do not allow home position
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tester.set_rtl_type(1);
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tester.set_rtl_appr_force(0);
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// reupload rally points with approaches
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tester.add_local_rally_point({100., -200.});
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tester.upload_custom_mission(std::chrono::seconds(10));
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(3);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_rally_point_within(5.0f);
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tester.check_home_not_within(20.);
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}
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TEST_CASE("RTL direct rally without approaches forced", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// Do not allow home position
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tester.set_rtl_type(1);
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tester.set_rtl_appr_force(1);
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// reupload rally points with approaches
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tester.add_local_rally_point({100., -2000.});
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tester.upload_custom_mission(std::chrono::seconds(10));
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(3);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_mission_land_within(5.f);
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}
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TEST_CASE("RTL direct rally with approaches", "[vtol]")
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{
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AutopilotTesterRtl 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.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// Do not allow home position
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tester.set_rtl_type(1);
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tester.set_rtl_appr_force(0);
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// reupload rally points with approaches
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tester.add_local_rally_with_approaches_point({100., -200.});
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tester.upload_custom_mission(std::chrono::seconds(10));
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(3);
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tester.check_rtl_approaches(5., std::chrono::seconds(60));
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_rally_point_within(5.0f);
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tester.check_home_not_within(20.);
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}
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