diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml index 3fef85d145..d669c3a64c 100644 --- a/.github/workflows/sitl_tests.yml +++ b/.github/workflows/sitl_tests.yml @@ -25,9 +25,9 @@ jobs: with: token: ${{ secrets.ACCESS_TOKEN }} - name: Download MAVSDK - run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.24.0/mavsdk_0.24.0_ubuntu18.04_amd64.deb + run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.27.0/mavsdk_0.27.0_ubuntu18.04_amd64.deb - name: Install MAVSDK - run: dpkg -i mavsdk_0.24.0_ubuntu18.04_amd64.deb + run: dpkg -i mavsdk_0.27.0_ubuntu18.04_amd64.deb - uses: actions/cache@v1.1.0 id: ccache-persistence with: diff --git a/test/mavsdk_tests/autopilot_tester.cpp b/test/mavsdk_tests/autopilot_tester.cpp index 7aac4e8d8c..cb4b9716a7 100644 --- a/test/mavsdk_tests/autopilot_tester.cpp +++ b/test/mavsdk_tests/autopilot_tester.cpp @@ -40,7 +40,7 @@ std::string connection_url {"udp://"}; void AutopilotTester::connect(const std::string uri) { ConnectionResult ret = _mavsdk.add_any_connection(uri); - REQUIRE(ret == ConnectionResult::SUCCESS); + REQUIRE(ret == ConnectionResult::Success); std::cout << "Waiting for system connect" << std::endl; REQUIRE(poll_condition_with_timeout( @@ -67,11 +67,11 @@ void AutopilotTester::wait_until_ready_local_position_only() 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); + (_telemetry->health().is_gyrometer_calibration_ok && + _telemetry->health().is_accelerometer_calibration_ok && + _telemetry->health().is_magnetometer_calibration_ok && + _telemetry->health().is_level_calibration_ok && + _telemetry->health().is_local_position_ok); }, std::chrono::seconds(20))); } @@ -93,40 +93,40 @@ void AutopilotTester::check_home_within(float acceptance_radius_m) void AutopilotTester::set_takeoff_altitude(const float altitude_m) { - CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(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.first == Action::Result::Success); CHECK(result.second == Approx(altitude_m)); } void AutopilotTester::arm() { const auto result = _action->arm(); - REQUIRE(result == Action::Result::SUCCESS); + REQUIRE(result == Action::Result::Success); } void AutopilotTester::takeoff() { const auto result = _action->takeoff(); - REQUIRE(result == Action::Result::SUCCESS); + REQUIRE(result == Action::Result::Success); } void AutopilotTester::land() { const auto result = _action->land(); - REQUIRE(result == Action::Result::SUCCESS); + REQUIRE(result == Action::Result::Success); } void AutopilotTester::transition_to_fixedwing() { const auto result = _action->transition_to_fixedwing(); - REQUIRE(result == Action::Result::SUCCESS); + REQUIRE(result == Action::Result::Success); } void AutopilotTester::transition_to_multicopter() { const auto result = _action->transition_to_multicopter(); - REQUIRE(result == Action::Result::SUCCESS); + REQUIRE(result == Action::Result::Success); } void AutopilotTester::wait_until_disarmed(std::chrono::seconds timeout_duration) @@ -138,26 +138,26 @@ void AutopilotTester::wait_until_disarmed(std::chrono::seconds timeout_duration) void AutopilotTester::wait_until_hovering() { REQUIRE(poll_condition_with_timeout( - [this]() { return _telemetry->landed_state() == Telemetry::LandedState::IN_AIR; }, std::chrono::seconds(20))); + [this]() { return _telemetry->landed_state() == Telemetry::LandedState::InAir; }, std::chrono::seconds(20))); } void AutopilotTester::prepare_square_mission(MissionOptions mission_options) { const auto ct = get_coordinate_transformation(); - std::vector> 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::MissionPlan mission_plan {}; + mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct)); + mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, + mission_options, ct)); + mission_plan.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); std::promise prom; auto fut = prom.get_future(); - _mission->upload_mission_async(mission_items, [&prom](Mission::Result result) { - REQUIRE(Mission::Result::SUCCESS == result); + _mission->upload_mission_async(mission_plan, [&prom](Mission::Result result) { + REQUIRE(Mission::Result::Success == result); prom.set_value(); }); @@ -170,48 +170,52 @@ void AutopilotTester::execute_mission() auto fut = prom.get_future(); _mission->start_mission_async([&prom](Mission::Result result) { - REQUIRE(Mission::Result::SUCCESS == result); + REQUIRE(Mission::Result::Success == result); prom.set_value(); }); // 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))); + [this]() { + auto result = _mission->is_mission_finished(); + return result.first == Mission::Result::Success && result.second; + }, std::chrono::seconds(60))); REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready); } CoordinateTransformation AutopilotTester::get_coordinate_transformation() { - const auto home = _telemetry->home_position(); + const auto home = _telemetry->home(); CHECK(std::isfinite(home.latitude_deg)); CHECK(std::isfinite(home.longitude_deg)); return CoordinateTransformation({home.latitude_deg, home.longitude_deg}); } -std::shared_ptr AutopilotTester::create_mission_item( +Mission::MissionItem AutopilotTester::create_mission_item( const CoordinateTransformation::LocalCoordinate &local_coordinate, const MissionOptions &mission_options, const CoordinateTransformation &ct) { - auto mission_item = std::make_shared(); + auto mission_item = Mission::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); + mission_item.latitude_deg = pos_north.latitude_deg; + mission_item.longitude_deg = pos_north.longitude_deg; + mission_item.relative_altitude_m = 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, +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); + 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; @@ -219,7 +223,7 @@ void AutopilotTester::offboard_goto(const Offboard::PositionNEDYaw &target, floa void AutopilotTester::offboard_land() { - Offboard::VelocityNEDYaw 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; @@ -227,25 +231,25 @@ void AutopilotTester::offboard_land() _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; + 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, +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; + 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); + CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::Success); } bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos, @@ -260,7 +264,10 @@ bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry: 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}); + GlobalCoordinate global_current; + global_current.latitude_deg = current_pos.latitude_deg; + global_current.longitude_deg = current_pos.longitude_deg; + LocalCoordinate local_pos = ct.local_from_global(global_current); const double distance = sqrt(sq(local_pos.north_m) + sq(local_pos.east_m)); const bool pass = distance < acceptance_radius_m; diff --git a/test/mavsdk_tests/autopilot_tester.h b/test/mavsdk_tests/autopilot_tester.h index d1c3421fd4..05f6c50f0c 100644 --- a/test/mavsdk_tests/autopilot_tester.h +++ b/test/mavsdk_tests/autopilot_tester.h @@ -74,7 +74,7 @@ public: 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, + 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(); @@ -82,14 +82,14 @@ public: private: mavsdk::geometry::CoordinateTransformation get_coordinate_transformation(); - std::shared_ptr create_mission_item( + mavsdk::Mission::MissionItem create_mission_item( const mavsdk::geometry::CoordinateTransformation::LocalCoordinate &local_coordinate, const MissionOptions &mission_options, const mavsdk::geometry::CoordinateTransformation &ct); 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_pos, float acceptance_radius_m); - bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw &target_pos, float acceptance_radius_m); + bool estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, 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 _telemetry{}; diff --git a/test/mavsdk_tests/test_multicopter_offboard.cpp b/test/mavsdk_tests/test_multicopter_offboard.cpp index 2d8c23d6c9..3f9cb650b5 100644 --- a/test/mavsdk_tests/test_multicopter_offboard.cpp +++ b/test/mavsdk_tests/test_multicopter_offboard.cpp @@ -42,7 +42,7 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]") { AutopilotTester tester; - Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f}; + 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(); @@ -57,10 +57,10 @@ TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]") 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}; + 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();