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mavsdk_tests: add VTOL mission tests

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This adds VTOL mission tests to the CI integration tests.
This depends on MAVSDK v0.38.0.
This commit is contained in:
Julian Oes
2021-04-06 11:35:18 -04:00
committed by Daniel Agar
parent 1e88939605
commit d714c2faec
6 changed files with 252 additions and 11 deletions
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test/mavsdk_tests/autopilot_tester.h
+5
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@@ -40,6 +40,7 @@
#include <mavsdk/plugins/info/info.h>
#include <mavsdk/plugins/manual_control/manual_control.h>
#include <mavsdk/plugins/mission/mission.h>
#include <mavsdk/plugins/mission_raw/mission_raw.h>
#include <mavsdk/plugins/offboard/offboard.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/param/param.h>
@@ -110,6 +111,8 @@ public:
void execute_mission_and_get_mag_stuck();
void execute_mission_and_lose_baro();
void execute_mission_and_get_baro_stuck();
void load_qgc_mission_raw(const std::string &plan_file);
void execute_mission_raw();
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));
@@ -136,6 +139,7 @@ private:
void wait_for_flight_mode(Telemetry::FlightMode flight_mode, std::chrono::seconds timeout);
void wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout);
void wait_for_mission_finished(std::chrono::seconds timeout);
void wait_for_mission_raw_finished(std::chrono::seconds timeout);
void report_speed_factor();
@@ -219,6 +223,7 @@ private:
std::unique_ptr<mavsdk::Info> _info{};
std::unique_ptr<mavsdk::ManualControl> _manual_control{};
std::unique_ptr<mavsdk::Mission> _mission{};
std::unique_ptr<mavsdk::MissionRaw> _mission_raw{};
std::unique_ptr<mavsdk::Offboard> _offboard{};
std::unique_ptr<mavsdk::Param> _param{};
std::unique_ptr<mavsdk::Telemetry> _telemetry{};