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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/test_vtol_mission.cpp
+45 -1
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@@ -31,7 +31,7 @@
*
****************************************************************************/
#include "autopilot_tester.h"
#include "autopilot_tester_rtl.h"
TEST_CASE("Fly VTOL mission", "[vtol]")
@@ -44,3 +44,47 @@ TEST_CASE("Fly VTOL mission", "[vtol]")
tester.execute_mission_raw();
tester.wait_until_disarmed();
}
TEST_CASE("RTL direct Home", "[vtol]")
{
AutopilotTesterRtl tester;
tester.connect(connection_url);
tester.wait_until_ready();
tester.store_home();
tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan");
// fly directly to home position
tester.set_rtl_type(0);
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(2);
tester.wait_until_disarmed(std::chrono::seconds(90));
tester.check_home_within(5.0f);
}
TEST_CASE("RTL with Mission Landing", "[vtol]")
{
AutopilotTesterRtl tester;
tester.connect(connection_url);
tester.wait_until_ready();
tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan");
// Vehicle should follow the mission and use the mission landing
tester.set_rtl_type(2);
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(2);
tester.check_tracks_mission_raw(30.0f);
tester.wait_until_disarmed(std::chrono::seconds(90));
}
TEST_CASE("RTL with Reverse Mission", "[vtol]")
{
AutopilotTesterRtl tester;
tester.connect(connection_url);
tester.wait_until_ready();
tester.set_takeoff_land_requirements(0);
tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_without_landing.plan");
// vehicle should follow the mission in reverse and land at the home position
tester.set_rtl_type(2);
tester.arm();
tester.execute_rtl_when_reaching_mission_sequence(6);
tester.check_tracks_mission_raw(30.0f);
tester.wait_until_disarmed(std::chrono::seconds(90));
}