mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
mavsdk_tests: add header and fix style
This commit is contained in:
Julian Oes
Nuno Marques
parent
9b61ce1006
commit
b5048a3414
@ -1,3 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "autopilot_tester.h"
|
||||
#include <iostream>
|
||||
#include <future>
|
||||
@ -6,225 +39,229 @@ std::string connection_url {"udp://"};
|
||||
|
||||
void AutopilotTester::connect(const std::string uri)
|
||||
{
|
||||
ConnectionResult ret = _mavsdk.add_any_connection(uri);
|
||||
REQUIRE(ret == ConnectionResult::SUCCESS);
|
||||
ConnectionResult ret = _mavsdk.add_any_connection(uri);
|
||||
REQUIRE(ret == ConnectionResult::SUCCESS);
|
||||
|
||||
std::cout << "Waiting for system connect" << std::endl;
|
||||
REQUIRE(poll_condition_with_timeout(
|
||||
[this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(25)));
|
||||
std::cout << "Waiting for system connect" << std::endl;
|
||||
REQUIRE(poll_condition_with_timeout(
|
||||
[this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(25)));
|
||||
|
||||
auto& system = _mavsdk.system();
|
||||
auto &system = _mavsdk.system();
|
||||
|
||||
_telemetry.reset(new Telemetry(system));
|
||||
_action.reset(new Action(system));
|
||||
_mission.reset(new Mission(system));
|
||||
_offboard.reset(new Offboard(system));
|
||||
_telemetry.reset(new Telemetry(system));
|
||||
_action.reset(new Action(system));
|
||||
_mission.reset(new Mission(system));
|
||||
_offboard.reset(new Offboard(system));
|
||||
}
|
||||
|
||||
void AutopilotTester::wait_until_ready()
|
||||
{
|
||||
std::cout << "Waiting for system to be ready" << std::endl;
|
||||
CHECK(poll_condition_with_timeout(
|
||||
[this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(20)));
|
||||
std::cout << "Waiting for system to be ready" << std::endl;
|
||||
CHECK(poll_condition_with_timeout(
|
||||
[this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(20)));
|
||||
}
|
||||
|
||||
void AutopilotTester::wait_until_ready_local_position_only()
|
||||
{
|
||||
std::cout << "Waiting for system to be ready" << std::endl;
|
||||
CHECK(poll_condition_with_timeout(
|
||||
[this]() {
|
||||
return
|
||||
(_telemetry->health().gyrometer_calibration_ok &&
|
||||
_telemetry->health().accelerometer_calibration_ok &&
|
||||
_telemetry->health().magnetometer_calibration_ok &&
|
||||
_telemetry->health().level_calibration_ok &&
|
||||
_telemetry->health().local_position_ok);
|
||||
std::cout << "Waiting for system to be ready" << std::endl;
|
||||
CHECK(poll_condition_with_timeout(
|
||||
[this]() {
|
||||
return
|
||||
(_telemetry->health().gyrometer_calibration_ok &&
|
||||
_telemetry->health().accelerometer_calibration_ok &&
|
||||
_telemetry->health().magnetometer_calibration_ok &&
|
||||
_telemetry->health().level_calibration_ok &&
|
||||
_telemetry->health().local_position_ok);
|
||||
}, std::chrono::seconds(20)));
|
||||
}
|
||||
|
||||
void AutopilotTester::store_home()
|
||||
{
|
||||
request_ground_truth();
|
||||
_home = get_ground_truth_position();
|
||||
request_ground_truth();
|
||||
_home = get_ground_truth_position();
|
||||
}
|
||||
|
||||
void AutopilotTester::check_home_within(float acceptance_radius_m)
|
||||
{
|
||||
CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m));
|
||||
CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m));
|
||||
}
|
||||
|
||||
void AutopilotTester::set_takeoff_altitude(const float altitude_m)
|
||||
{
|
||||
CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(altitude_m));
|
||||
const auto result = _action->get_takeoff_altitude();
|
||||
CHECK(result.first == Action::Result::SUCCESS);
|
||||
CHECK(result.second == Approx(altitude_m));
|
||||
CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(altitude_m));
|
||||
const auto result = _action->get_takeoff_altitude();
|
||||
CHECK(result.first == Action::Result::SUCCESS);
|
||||
CHECK(result.second == Approx(altitude_m));
|
||||
}
|
||||
|
||||
void AutopilotTester::arm()
|
||||
{
|
||||
const auto result = _action->arm();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
const auto result = _action->arm();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
}
|
||||
|
||||
void AutopilotTester::takeoff()
|
||||
{
|
||||
const auto result = _action->takeoff();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
const auto result = _action->takeoff();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
}
|
||||
|
||||
void AutopilotTester::land()
|
||||
{
|
||||
const auto result = _action->land();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
const auto result = _action->land();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
}
|
||||
|
||||
void AutopilotTester::transition_to_fixedwing()
|
||||
{
|
||||
const auto result = _action->transition_to_fixedwing();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
const auto result = _action->transition_to_fixedwing();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
}
|
||||
|
||||
void AutopilotTester::transition_to_multicopter()
|
||||
{
|
||||
const auto result = _action->transition_to_multicopter();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
const auto result = _action->transition_to_multicopter();
|
||||
REQUIRE(result == Action::Result::SUCCESS);
|
||||
}
|
||||
|
||||
void AutopilotTester::wait_until_disarmed()
|
||||
{
|
||||
REQUIRE(poll_condition_with_timeout(
|
||||
[this]() { return !_telemetry->armed(); }, std::chrono::seconds(60)));
|
||||
REQUIRE(poll_condition_with_timeout(
|
||||
[this]() { return !_telemetry->armed(); }, std::chrono::seconds(60)));
|
||||
}
|
||||
|
||||
void AutopilotTester::wait_until_hovering()
|
||||
{
|
||||
REQUIRE(poll_condition_with_timeout(
|
||||
[this]() { return _telemetry->landed_state() == Telemetry::LandedState::IN_AIR; }, std::chrono::seconds(20)));
|
||||
REQUIRE(poll_condition_with_timeout(
|
||||
[this]() { return _telemetry->landed_state() == Telemetry::LandedState::IN_AIR; }, std::chrono::seconds(20)));
|
||||
}
|
||||
|
||||
void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
|
||||
{
|
||||
const auto ct = get_coordinate_transformation();
|
||||
const auto ct = get_coordinate_transformation();
|
||||
|
||||
std::vector<std::shared_ptr<MissionItem>> mission_items {};
|
||||
mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
|
||||
mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, mission_options, ct));
|
||||
mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
|
||||
std::vector<std::shared_ptr<MissionItem>> mission_items {};
|
||||
mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
|
||||
mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m},
|
||||
mission_options, ct));
|
||||
mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
|
||||
|
||||
_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
|
||||
_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
|
||||
|
||||
std::promise<void> prom;
|
||||
auto fut = prom.get_future();
|
||||
std::promise<void> prom;
|
||||
auto fut = prom.get_future();
|
||||
|
||||
_mission->upload_mission_async(mission_items, [&prom](Mission::Result result) {
|
||||
REQUIRE(Mission::Result::SUCCESS == result);
|
||||
prom.set_value();
|
||||
});
|
||||
_mission->upload_mission_async(mission_items, [&prom](Mission::Result result) {
|
||||
REQUIRE(Mission::Result::SUCCESS == result);
|
||||
prom.set_value();
|
||||
});
|
||||
|
||||
REQUIRE(fut.wait_for(std::chrono::seconds(2)) == std::future_status::ready);
|
||||
REQUIRE(fut.wait_for(std::chrono::seconds(2)) == std::future_status::ready);
|
||||
}
|
||||
|
||||
void AutopilotTester::execute_mission()
|
||||
{
|
||||
std::promise<void> prom;
|
||||
auto fut = prom.get_future();
|
||||
std::promise<void> prom;
|
||||
auto fut = prom.get_future();
|
||||
|
||||
_mission->start_mission_async([&prom](Mission::Result result) {
|
||||
REQUIRE(Mission::Result::SUCCESS == result);
|
||||
prom.set_value();
|
||||
});
|
||||
_mission->start_mission_async([&prom](Mission::Result result) {
|
||||
REQUIRE(Mission::Result::SUCCESS == result);
|
||||
prom.set_value();
|
||||
});
|
||||
|
||||
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
|
||||
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
|
||||
|
||||
REQUIRE(poll_condition_with_timeout(
|
||||
[this]() { return _mission->mission_finished(); }, std::chrono::seconds(60)));
|
||||
REQUIRE(poll_condition_with_timeout(
|
||||
[this]() { return _mission->mission_finished(); }, std::chrono::seconds(60)));
|
||||
|
||||
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
|
||||
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
|
||||
}
|
||||
|
||||
CoordinateTransformation AutopilotTester::get_coordinate_transformation()
|
||||
{
|
||||
const auto home = _telemetry->home_position();
|
||||
CHECK(std::isfinite(home.latitude_deg));
|
||||
CHECK(std::isfinite(home.longitude_deg));
|
||||
return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
|
||||
const auto home = _telemetry->home_position();
|
||||
CHECK(std::isfinite(home.latitude_deg));
|
||||
CHECK(std::isfinite(home.longitude_deg));
|
||||
return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
|
||||
}
|
||||
|
||||
std::shared_ptr<MissionItem> AutopilotTester::create_mission_item(
|
||||
const CoordinateTransformation::LocalCoordinate& local_coordinate,
|
||||
const MissionOptions& mission_options,
|
||||
const CoordinateTransformation& ct)
|
||||
const CoordinateTransformation::LocalCoordinate &local_coordinate,
|
||||
const MissionOptions &mission_options,
|
||||
const CoordinateTransformation &ct)
|
||||
{
|
||||
auto mission_item = std::make_shared<MissionItem>();
|
||||
const auto pos_north = ct.global_from_local(local_coordinate);
|
||||
mission_item->set_position(pos_north.latitude_deg, pos_north.longitude_deg);
|
||||
mission_item->set_relative_altitude(mission_options.relative_altitude_m);
|
||||
return mission_item;
|
||||
auto mission_item = std::make_shared<MissionItem>();
|
||||
const auto pos_north = ct.global_from_local(local_coordinate);
|
||||
mission_item->set_position(pos_north.latitude_deg, pos_north.longitude_deg);
|
||||
mission_item->set_relative_altitude(mission_options.relative_altitude_m);
|
||||
return mission_item;
|
||||
}
|
||||
|
||||
void AutopilotTester::execute_rtl()
|
||||
{
|
||||
REQUIRE(Action::Result::SUCCESS == _action->return_to_launch());
|
||||
REQUIRE(Action::Result::SUCCESS == _action->return_to_launch());
|
||||
}
|
||||
|
||||
void AutopilotTester::offboard_goto(const Offboard::PositionNEDYaw& target, float acceptance_radius_m, std::chrono::seconds timeout_duration)
|
||||
void AutopilotTester::offboard_goto(const Offboard::PositionNEDYaw &target, float acceptance_radius_m,
|
||||
std::chrono::seconds timeout_duration)
|
||||
{
|
||||
_offboard->set_position_ned(target);
|
||||
REQUIRE(_offboard->start() == Offboard::Result::SUCCESS);
|
||||
CHECK(poll_condition_with_timeout(
|
||||
[=]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration));
|
||||
std::cout << "Target position reached" << std::endl;
|
||||
_offboard->set_position_ned(target);
|
||||
REQUIRE(_offboard->start() == Offboard::Result::SUCCESS);
|
||||
CHECK(poll_condition_with_timeout(
|
||||
[ = ]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration));
|
||||
std::cout << "Target position reached" << std::endl;
|
||||
}
|
||||
|
||||
void AutopilotTester::offboard_land()
|
||||
{
|
||||
Offboard::VelocityNEDYaw land_velocity;
|
||||
land_velocity.north_m_s = 0.0f;
|
||||
land_velocity.east_m_s = 0.0f;
|
||||
land_velocity.down_m_s = 1.0f;
|
||||
land_velocity.yaw_deg = 0.0f;
|
||||
_offboard->set_velocity_ned(land_velocity);
|
||||
Offboard::VelocityNEDYaw land_velocity;
|
||||
land_velocity.north_m_s = 0.0f;
|
||||
land_velocity.east_m_s = 0.0f;
|
||||
land_velocity.down_m_s = 1.0f;
|
||||
land_velocity.yaw_deg = 0.0f;
|
||||
_offboard->set_velocity_ned(land_velocity);
|
||||
}
|
||||
|
||||
bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m)
|
||||
bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m)
|
||||
{
|
||||
Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position;
|
||||
return sq(est_pos.north_m - target_pos.north_m) +
|
||||
sq(est_pos.east_m - target_pos.east_m) +
|
||||
sq(est_pos.down_m - target_pos.down_m) < sq(acceptance_radius_m);
|
||||
Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position;
|
||||
return sq(est_pos.north_m - target_pos.north_m) +
|
||||
sq(est_pos.east_m - target_pos.east_m) +
|
||||
sq(est_pos.down_m - target_pos.down_m) < sq(acceptance_radius_m);
|
||||
}
|
||||
|
||||
bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m)
|
||||
bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw &target_pos,
|
||||
float acceptance_radius_m)
|
||||
{
|
||||
Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position;
|
||||
return sq(est_pos.north_m - target_pos.north_m) +
|
||||
sq(est_pos.east_m - target_pos.east_m) < sq(acceptance_radius_m);
|
||||
Telemetry::PositionNED est_pos = _telemetry->position_velocity_ned().position;
|
||||
return sq(est_pos.north_m - target_pos.north_m) +
|
||||
sq(est_pos.east_m - target_pos.east_m) < sq(acceptance_radius_m);
|
||||
}
|
||||
|
||||
void AutopilotTester::request_ground_truth()
|
||||
{
|
||||
CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::SUCCESS);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::SUCCESS);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
}
|
||||
|
||||
Telemetry::GroundTruth AutopilotTester::get_ground_truth_position()
|
||||
{
|
||||
return _telemetry->ground_truth();
|
||||
return _telemetry->ground_truth();
|
||||
}
|
||||
|
||||
bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m)
|
||||
bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos,
|
||||
float acceptance_radius_m)
|
||||
{
|
||||
CHECK(std::isfinite(target_pos.latitude_deg));
|
||||
CHECK(std::isfinite(target_pos.longitude_deg));
|
||||
using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate;
|
||||
using LocalCoordinate = CoordinateTransformation::LocalCoordinate;
|
||||
CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg});
|
||||
CHECK(std::isfinite(target_pos.latitude_deg));
|
||||
CHECK(std::isfinite(target_pos.longitude_deg));
|
||||
using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate;
|
||||
using LocalCoordinate = CoordinateTransformation::LocalCoordinate;
|
||||
CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg});
|
||||
|
||||
Telemetry::GroundTruth current_pos = _telemetry->ground_truth();
|
||||
CHECK(std::isfinite(current_pos.latitude_deg));
|
||||
CHECK(std::isfinite(current_pos.longitude_deg));
|
||||
LocalCoordinate local_pos= ct.local_from_global(GlobalCoordinate{current_pos.latitude_deg, current_pos.longitude_deg});
|
||||
Telemetry::GroundTruth current_pos = _telemetry->ground_truth();
|
||||
CHECK(std::isfinite(current_pos.latitude_deg));
|
||||
CHECK(std::isfinite(current_pos.longitude_deg));
|
||||
LocalCoordinate local_pos = ct.local_from_global(GlobalCoordinate{current_pos.latitude_deg, current_pos.longitude_deg});
|
||||
|
||||
return sq(local_pos.north_m) + sq(local_pos.east_m) < sq(acceptance_radius_m);
|
||||
return sq(local_pos.north_m) + sq(local_pos.east_m) < sq(acceptance_radius_m);
|
||||
}
|
||||
|
||||
@ -1,3 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <mavsdk/mavsdk.h>
|
||||
@ -16,72 +49,76 @@ extern std::string connection_url;
|
||||
using namespace mavsdk;
|
||||
using namespace mavsdk::geometry;
|
||||
|
||||
class AutopilotTester {
|
||||
class AutopilotTester
|
||||
{
|
||||
public:
|
||||
struct MissionOptions {
|
||||
double leg_length_m {20.0};
|
||||
double relative_altitude_m {10.0};
|
||||
bool rtl_at_end {false};
|
||||
};
|
||||
struct MissionOptions {
|
||||
double leg_length_m {20.0};
|
||||
double relative_altitude_m {10.0};
|
||||
bool rtl_at_end {false};
|
||||
};
|
||||
|
||||
void connect(const std::string uri);
|
||||
void wait_until_ready();
|
||||
void wait_until_ready_local_position_only();
|
||||
void store_home();
|
||||
void check_home_within(float acceptance_radius_m);
|
||||
void set_takeoff_altitude(const float altitude_m);
|
||||
void arm();
|
||||
void takeoff();
|
||||
void land();
|
||||
void transition_to_fixedwing();
|
||||
void transition_to_multicopter();
|
||||
void wait_until_disarmed();
|
||||
void wait_until_hovering();
|
||||
void prepare_square_mission(MissionOptions mission_options);
|
||||
void execute_mission();
|
||||
void execute_rtl();
|
||||
void offboard_goto(const Offboard::PositionNEDYaw& target, float acceptance_radius_m = 0.3f,
|
||||
std::chrono::seconds timeout_duration = std::chrono::seconds(60));
|
||||
void offboard_land();
|
||||
void request_ground_truth();
|
||||
void connect(const std::string uri);
|
||||
void wait_until_ready();
|
||||
void wait_until_ready_local_position_only();
|
||||
void store_home();
|
||||
void check_home_within(float acceptance_radius_m);
|
||||
void set_takeoff_altitude(const float altitude_m);
|
||||
void arm();
|
||||
void takeoff();
|
||||
void land();
|
||||
void transition_to_fixedwing();
|
||||
void transition_to_multicopter();
|
||||
void wait_until_disarmed();
|
||||
void wait_until_hovering();
|
||||
void prepare_square_mission(MissionOptions mission_options);
|
||||
void execute_mission();
|
||||
void execute_rtl();
|
||||
void offboard_goto(const Offboard::PositionNEDYaw &target, float acceptance_radius_m = 0.3f,
|
||||
std::chrono::seconds timeout_duration = std::chrono::seconds(60));
|
||||
void offboard_land();
|
||||
void request_ground_truth();
|
||||
|
||||
|
||||
private:
|
||||
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
|
||||
std::shared_ptr<mavsdk::MissionItem> create_mission_item(
|
||||
const mavsdk::geometry::CoordinateTransformation::LocalCoordinate& local_coordinate,
|
||||
const MissionOptions& mission_options,
|
||||
const mavsdk::geometry::CoordinateTransformation& ct);
|
||||
Telemetry::GroundTruth get_ground_truth_position();
|
||||
mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
|
||||
std::shared_ptr<mavsdk::MissionItem> create_mission_item(
|
||||
const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate,
|
||||
const MissionOptions &mission_options,
|
||||
const mavsdk::geometry::CoordinateTransformation &ct);
|
||||
Telemetry::GroundTruth get_ground_truth_position();
|
||||
|
||||
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m);
|
||||
bool estimated_position_close_to(const Offboard::PositionNEDYaw& target_position, float acceptance_radius_m);
|
||||
bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m);
|
||||
bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, float acceptance_radius_m);
|
||||
bool estimated_position_close_to(const Offboard::PositionNEDYaw &target_position, float acceptance_radius_m);
|
||||
bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m);
|
||||
|
||||
mavsdk::Mavsdk _mavsdk{};
|
||||
std::unique_ptr<mavsdk::Telemetry> _telemetry{};
|
||||
std::unique_ptr<mavsdk::Action> _action{};
|
||||
std::unique_ptr<mavsdk::Mission> _mission{};
|
||||
std::unique_ptr<mavsdk::Offboard> _offboard{};
|
||||
mavsdk::Mavsdk _mavsdk{};
|
||||
std::unique_ptr<mavsdk::Telemetry> _telemetry{};
|
||||
std::unique_ptr<mavsdk::Action> _action{};
|
||||
std::unique_ptr<mavsdk::Mission> _mission{};
|
||||
std::unique_ptr<mavsdk::Offboard> _offboard{};
|
||||
|
||||
Telemetry::GroundTruth _home{NAN, NAN, NAN};
|
||||
Telemetry::GroundTruth _home{NAN, NAN, NAN};
|
||||
};
|
||||
|
||||
template<typename Rep, typename Period>
|
||||
bool poll_condition_with_timeout(
|
||||
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
|
||||
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
|
||||
{
|
||||
// We need millisecond resolution for sleeping.
|
||||
const std::chrono::milliseconds duration_ms(duration);
|
||||
// We need millisecond resolution for sleeping.
|
||||
const std::chrono::milliseconds duration_ms(duration);
|
||||
|
||||
unsigned iteration = 0;
|
||||
while (!fun()) {
|
||||
std::this_thread::sleep_for(duration_ms / 10);
|
||||
if (iteration++ >= 10) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
unsigned iteration = 0;
|
||||
|
||||
while (!fun()) {
|
||||
std::this_thread::sleep_for(duration_ms / 10);
|
||||
|
||||
if (iteration++ >= 10) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
inline float sq(float x) { return x * x; };
|
||||
|
||||
@ -1,7 +1,35 @@
|
||||
//
|
||||
// Multicopter mission test.
|
||||
//
|
||||
// Author: Julian Oes <julian@oes.ch>
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#define CATCH_CONFIG_RUNNER
|
||||
#include "catch2/catch.hpp"
|
||||
@ -12,55 +40,59 @@
|
||||
#include "autopilot_tester.h"
|
||||
|
||||
|
||||
static void usage(const std::string& bin_name);
|
||||
static void remove_argv(int& argc, char** argv, int pos);
|
||||
static void usage(const std::string &bin_name);
|
||||
static void remove_argv(int &argc, char **argv, int pos);
|
||||
|
||||
int main(int argc, char** argv)
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
for (int i = 0; i < argc; ++i) {
|
||||
const std::string argv_string(argv[i]);
|
||||
for (int i = 0; i < argc; ++i) {
|
||||
const std::string argv_string(argv[i]);
|
||||
|
||||
if (argv_string == "-h") {
|
||||
usage(argv[0]);
|
||||
}
|
||||
if (argv_string == "-h") {
|
||||
usage(argv[0]);
|
||||
}
|
||||
|
||||
if (argv_string == "--url") {
|
||||
if (argc > i + 1) {
|
||||
connection_url = argv[i+1];
|
||||
remove_argv(argc, argv, i);
|
||||
remove_argv(argc, argv, i);
|
||||
} else {
|
||||
std::cerr << "No connection URL supplied" << std::endl;
|
||||
usage(argv[0]);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (argv_string == "--url") {
|
||||
if (argc > i + 1) {
|
||||
connection_url = argv[i + 1];
|
||||
remove_argv(argc, argv, i);
|
||||
remove_argv(argc, argv, i);
|
||||
|
||||
Catch::Session session;
|
||||
const int catch_ret = session.applyCommandLine(argc, argv);
|
||||
if (catch_ret != 0) {
|
||||
return catch_ret;
|
||||
}
|
||||
return session.run();
|
||||
} else {
|
||||
std::cerr << "No connection URL supplied" << std::endl;
|
||||
usage(argv[0]);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Catch::Session session;
|
||||
const int catch_ret = session.applyCommandLine(argc, argv);
|
||||
|
||||
if (catch_ret != 0) {
|
||||
return catch_ret;
|
||||
}
|
||||
|
||||
return session.run();
|
||||
}
|
||||
|
||||
void usage(const std::string& bin_name)
|
||||
void usage(const std::string &bin_name)
|
||||
{
|
||||
std::cout << std::endl
|
||||
<< "Usage : " << bin_name << " [--url CONNECTION_URL] [catch2 arguments]" << std::endl
|
||||
<< "Connection URL format should be :" << std::endl
|
||||
<< " For TCP : tcp://[server_host][:server_port]" << std::endl
|
||||
<< " For UDP : udp://[bind_host][:bind_port]" << std::endl
|
||||
<< " For Serial : serial:///path/to/serial/dev[:baudrate]" << std::endl
|
||||
<< "For example, to connect to the simulator use URL: udp://:14540" << std::endl
|
||||
<< std::endl;
|
||||
std::cout << std::endl
|
||||
<< "Usage : " << bin_name << " [--url CONNECTION_URL] [catch2 arguments]" << std::endl
|
||||
<< "Connection URL format should be :" << std::endl
|
||||
<< " For TCP : tcp://[server_host][:server_port]" << std::endl
|
||||
<< " For UDP : udp://[bind_host][:bind_port]" << std::endl
|
||||
<< " For Serial : serial:///path/to/serial/dev[:baudrate]" << std::endl
|
||||
<< "For example, to connect to the simulator use URL: udp://:14540" << std::endl
|
||||
<< std::endl;
|
||||
}
|
||||
|
||||
void remove_argv(int& argc, char** argv, int pos)
|
||||
void remove_argv(int &argc, char **argv, int pos)
|
||||
{
|
||||
for (int i = pos; i+1 < argc; ++i) {
|
||||
argv[i] = argv[i+1];
|
||||
}
|
||||
argv[--argc] = nullptr;
|
||||
for (int i = pos; i + 1 < argc; ++i) {
|
||||
argv[i] = argv[i + 1];
|
||||
}
|
||||
|
||||
argv[--argc] = nullptr;
|
||||
}
|
||||
|
||||
@ -1,7 +1,35 @@
|
||||
//
|
||||
// Multicopter mission test.
|
||||
//
|
||||
// Author: Julian Oes <julian@oes.ch>
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <mavsdk/mavsdk.h>
|
||||
#include <mavsdk/plugins/action/action.h>
|
||||
@ -13,39 +41,39 @@
|
||||
|
||||
TEST_CASE("Takeoff and Land", "[multicopter][vtol]")
|
||||
{
|
||||
AutopilotTester tester;
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready();
|
||||
tester.arm();
|
||||
tester.takeoff();
|
||||
tester.wait_until_hovering();
|
||||
tester.land();
|
||||
tester.wait_until_disarmed();
|
||||
AutopilotTester tester;
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready();
|
||||
tester.arm();
|
||||
tester.takeoff();
|
||||
tester.wait_until_hovering();
|
||||
tester.land();
|
||||
tester.wait_until_disarmed();
|
||||
}
|
||||
|
||||
TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]")
|
||||
{
|
||||
AutopilotTester tester;
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready();
|
||||
AutopilotTester tester;
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready();
|
||||
|
||||
SECTION("Mission including RTL") {
|
||||
AutopilotTester::MissionOptions mission_options;
|
||||
mission_options.rtl_at_end = true;
|
||||
tester.prepare_square_mission(mission_options);
|
||||
tester.arm();
|
||||
tester.execute_mission();
|
||||
tester.wait_until_disarmed();
|
||||
}
|
||||
SECTION("Mission including RTL") {
|
||||
AutopilotTester::MissionOptions mission_options;
|
||||
mission_options.rtl_at_end = true;
|
||||
tester.prepare_square_mission(mission_options);
|
||||
tester.arm();
|
||||
tester.execute_mission();
|
||||
tester.wait_until_disarmed();
|
||||
}
|
||||
|
||||
SECTION("Mission with manual RTL") {
|
||||
AutopilotTester::MissionOptions mission_options;
|
||||
mission_options.rtl_at_end = false;
|
||||
tester.prepare_square_mission(mission_options);
|
||||
tester.arm();
|
||||
tester.execute_mission();
|
||||
tester.wait_until_hovering();
|
||||
tester.execute_rtl();
|
||||
tester.wait_until_disarmed();
|
||||
}
|
||||
SECTION("Mission with manual RTL") {
|
||||
AutopilotTester::MissionOptions mission_options;
|
||||
mission_options.rtl_at_end = false;
|
||||
tester.prepare_square_mission(mission_options);
|
||||
tester.arm();
|
||||
tester.execute_mission();
|
||||
tester.wait_until_hovering();
|
||||
tester.execute_rtl();
|
||||
tester.wait_until_disarmed();
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,7 +1,35 @@
|
||||
//
|
||||
// VTOL mission test.
|
||||
//
|
||||
// Author: Lorenz Meier <lorenz@px4.io>
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <mavsdk/mavsdk.h>
|
||||
#include <mavsdk/plugins/action/action.h>
|
||||
@ -13,13 +41,13 @@
|
||||
|
||||
TEST_CASE("Takeoff and transition and RTL", "[vtol]")
|
||||
{
|
||||
AutopilotTester tester;
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready();
|
||||
tester.arm();
|
||||
tester.takeoff();
|
||||
tester.wait_until_hovering();
|
||||
tester.transition_to_fixedwing();
|
||||
tester.execute_rtl();
|
||||
tester.wait_until_disarmed();
|
||||
AutopilotTester tester;
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready();
|
||||
tester.arm();
|
||||
tester.takeoff();
|
||||
tester.wait_until_hovering();
|
||||
tester.transition_to_fixedwing();
|
||||
tester.execute_rtl();
|
||||
tester.wait_until_disarmed();
|
||||
}
|
||||
|
||||
@ -1,7 +1,35 @@
|
||||
//
|
||||
// Multicopter mission test.
|
||||
//
|
||||
// Author: Julian Oes <julian@oes.ch>
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <mavsdk/mavsdk.h>
|
||||
#include <mavsdk/plugins/action/action.h>
|
||||
@ -13,35 +41,35 @@
|
||||
|
||||
TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
|
||||
{
|
||||
AutopilotTester tester;
|
||||
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready_local_position_only();
|
||||
tester.store_home();
|
||||
tester.arm();
|
||||
tester.offboard_goto(takeoff_position, 0.5f);
|
||||
tester.offboard_land();
|
||||
tester.wait_until_disarmed();
|
||||
tester.check_home_within(0.5f);
|
||||
AutopilotTester tester;
|
||||
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready_local_position_only();
|
||||
tester.store_home();
|
||||
tester.arm();
|
||||
tester.offboard_goto(takeoff_position, 0.5f);
|
||||
tester.offboard_land();
|
||||
tester.wait_until_disarmed();
|
||||
tester.check_home_within(0.5f);
|
||||
}
|
||||
|
||||
TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
|
||||
{
|
||||
AutopilotTester tester;
|
||||
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
|
||||
Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
|
||||
Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
|
||||
Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready_local_position_only();
|
||||
tester.store_home();
|
||||
tester.arm();
|
||||
tester.offboard_goto(takeoff_position, 0.5f);
|
||||
tester.offboard_goto(setpoint_1, 1.0f);
|
||||
tester.offboard_goto(setpoint_2, 1.0f);
|
||||
tester.offboard_goto(setpoint_3, 1.0f);
|
||||
tester.offboard_goto(takeoff_position, 0.2f);
|
||||
tester.offboard_land();
|
||||
tester.wait_until_disarmed();
|
||||
tester.check_home_within(1.0f);
|
||||
AutopilotTester tester;
|
||||
Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
|
||||
Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
|
||||
Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
|
||||
Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
|
||||
tester.connect(connection_url);
|
||||
tester.wait_until_ready_local_position_only();
|
||||
tester.store_home();
|
||||
tester.arm();
|
||||
tester.offboard_goto(takeoff_position, 0.5f);
|
||||
tester.offboard_goto(setpoint_1, 1.0f);
|
||||
tester.offboard_goto(setpoint_2, 1.0f);
|
||||
tester.offboard_goto(setpoint_3, 1.0f);
|
||||
tester.offboard_goto(takeoff_position, 0.2f);
|
||||
tester.offboard_land();
|
||||
tester.wait_until_disarmed();
|
||||
tester.check_home_within(1.0f);
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user