fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 15:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavsdk_tests: update to MAVSDK 3.0.0

Browse Source
This commit is contained in:
Julian Oes
2025-05-19 07:37:02 -07:00
committed by Ramon Roche
parent e50d5d8567
commit 66deae172d
6 changed files with 53 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/autopilot_tester_rtl.cpp
+16 -8
View File
@@ -79,10 +79,12 @@ void AutopilotTesterRtl::upload_custom_mission(std::chrono::seconds timeout)
if (request_int_message.mission_type == mission_type) {
// send requested element.
mavlink_message_t mission_item_int_mavlink_message;
mavlink_msg_mission_item_int_encode(getMavlinkPassthrough()->get_our_sysid(), getMavlinkPassthrough()->get_our_compid(),
&mission_item_int_mavlink_message, &(_custom_mission[request_int_message.seq]));
send_custom_mavlink_message(mission_item_int_mavlink_message);
getMavlinkPassthrough()->queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
mavlink_message_t message;
mavlink_msg_mission_item_int_encode_chan(mavlink_address.system_id, mavlink_address.component_id, channel,
&message, &(_custom_mission[request_int_message.seq]));
return message;
});
if (request_int_message.seq + 1U == _custom_mission.size()) {
add_mavlink_message_callback(MAVLINK_MSG_ID_MISSION_REQUEST_INT, nullptr);
@@ -102,7 +104,12 @@ void AutopilotTesterRtl::upload_custom_mission(std::chrono::seconds timeout)
mavlink_msg_mission_count_encode(getMavlinkPassthrough()->get_our_sysid(), getMavlinkPassthrough()->get_our_compid(),
&mission_count_mavlink_message, &mission_count_message);
send_custom_mavlink_message(mission_count_mavlink_message);
getMavlinkPassthrough()->queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
mavlink_message_t message;
mavlink_msg_mission_count_encode_chan(mavlink_address.system_id, mavlink_address.component_id, channel,
&message, &mission_count_message);
return message;
});
REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
}
@@ -222,7 +229,8 @@ void AutopilotTesterRtl::check_rtl_approaches(float acceptance_radius_m, std::ch
REQUIRE(return_rtl_alt.first == Param::Result::Success);
REQUIRE(descend_rtl_alt.first == Param::Result::Success);
getTelemetry()->subscribe_position_velocity_ned([&prom, acceptance_radius_m, return_rtl_alt, descend_rtl_alt, ct,
Telemetry::PositionVelocityNedHandle handle = getTelemetry()->subscribe_position_velocity_ned(
[&prom, &handle, acceptance_radius_m, return_rtl_alt, descend_rtl_alt, ct,
this](Telemetry::PositionVelocityNed position_velocity_ned) {
if ((-position_velocity_ned.position.down_m < return_rtl_alt.second - 3.)
@@ -242,7 +250,7 @@ void AutopilotTesterRtl::check_rtl_approaches(float acceptance_radius_m, std::ch
if (-position_velocity_ned.position.down_m < descend_rtl_alt.second + 3.) {
// We reached the altitude
getTelemetry()->subscribe_position_velocity_ned(nullptr);
getTelemetry()->unsubscribe_position_velocity_ned(handle);
prom.set_value(true);
return;
@@ -252,7 +260,7 @@ void AutopilotTesterRtl::check_rtl_approaches(float acceptance_radius_m, std::ch
}
if (!on_approach_loiter) {
getTelemetry()->subscribe_position_velocity_ned(nullptr);
getTelemetry()->unsubscribe_position_velocity_ned(handle);
prom.set_value(false);
}