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test_vtol_mission: Add additional testing for VTOL RTL and reverse mission RTL

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mavsdk-test: added a vtol mission without a landing at the end (used for reversed RTL)
math_helpers: added function to compute local position from a raw mission item

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2023-09-29 14:25:03 +02:00
committed by Silvan Fuhrer
parent 9a48d375ce
commit 6fca984c3f
8 changed files with 436 additions and 10 deletions
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test/mavsdk_tests/math_helpers.h
+14
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@@ -44,6 +44,20 @@ std::array<T, 3> get_local_mission_item(const Mission::MissionItem &item, const
return {static_cast<T>(local.north_m), static_cast<T>(local.east_m), -item.relative_altitude_m};
}
template<typename T>
std::array<T, 3> get_local_mission_item_from_raw_item(const mavsdk::MissionRaw::MissionItem &item,
const CoordinateTransformation &ct)
{
using GlobalCoordinate = mavsdk::geometry::CoordinateTransformation::GlobalCoordinate;
GlobalCoordinate global;
global.latitude_deg = item.x / 1e7;
global.longitude_deg = item.y / 1e7;
auto local = ct.local_from_global(global);
return {static_cast<T>(local.north_m), static_cast<T>(local.east_m), -item.z};
}
template<typename T>
T sq(T x)
{