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Add 'corridor check' which makes sure 3D tracking is along mission

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This commit is contained in:
Julian Kent
2020-07-14 11:34:14 +02:00
committed by Julian Kent
parent db361d7a59
commit e6c5771c59
3 changed files with 61 additions and 1 deletions
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test/mavsdk_tests/autopilot_tester.cpp
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@@ -258,6 +258,64 @@ void AutopilotTester::check_mission_item_speed_above(int item_index, float min_s
});
}
void AutopilotTester::check_tracks_mission(float corridor_radius_m)
{
auto mission = _mission->download_mission();
CHECK(mission.first == Mission::Result::Success);
std::vector<Mission::MissionItem> mission_items = mission.second.mission_items;
auto ct = get_coordinate_transformation();
auto get_local_mission_item = [mission_items, ct](int item_index) -> std::array<float, 3> {
using GlobalCoordinate = mavsdk::geometry::CoordinateTransformation::GlobalCoordinate;
auto item = mission_items[item_index];
GlobalCoordinate global;
global.latitude_deg = item.latitude_deg;
global.longitude_deg = item.longitude_deg;
auto local = ct.local_from_global(global);
std::array<float, 3> res = {static_cast<float>(local.north_m), static_cast<float>(local.east_m), -item.relative_altitude_m};
return res;
};
_telemetry->set_rate_position_velocity_ned(5);
_telemetry->subscribe_position_velocity_ned([get_local_mission_item, corridor_radius_m,
this](Telemetry::PositionVelocityNed position_velocity_ned) {
auto progress = _mission->mission_progress();
if (progress.current > 0 && progress.current < progress.total) {
// Get shortest distance of current position to 3D line between previous and next waypoint
std::array<float, 3> current { position_velocity_ned.position.north_m,
position_velocity_ned.position.east_m,
position_velocity_ned.position.down_m };
std::array<float, 3> wp_prev = get_local_mission_item(progress.current - 1);
std::array<float, 3> wp_next = get_local_mission_item(progress.current);
// wp_dir_norm = (wp_next - wp_prev).normalize();
std::array<float, 3> wp_dir { wp_next[0] - wp_prev[0], wp_next[1] - wp_prev[1], wp_next[2] - wp_prev[2]};
float norm = std::sqrt(wp_dir[0] * wp_dir[0] + wp_dir[1] * wp_dir[1] + wp_dir[2] * wp_dir[2]);
std::array<float, 3> wp_dir_norm {wp_dir[0] / norm, wp_dir[1] / norm, wp_dir[2] / norm};
// travelled = current - wp_prev
std::array<float, 3> travelled {current[0] - wp_prev[0], current[1] - wp_prev[1], current[2] - wp_prev[2]};
// t = wp_dir_norm.dot(travelled);
float t = wp_dir_norm[0] * travelled[0] + wp_dir_norm[1] * travelled[1] + wp_dir_norm[2] * travelled[2];
// closest_on_line = wp_prev + t * wp_dir_norm;
std::array<float, 3> closest_on_line { wp_prev[0] + t *wp_dir_norm[0], wp_prev[1] + t *wp_dir_norm[1], wp_prev[2] + t *wp_dir_norm[2]};
// distance = (closest_on_line - current).norm();
std::array<float, 3> vec_to_line {closest_on_line[0] - current[0], closest_on_line[1] - current[1], closest_on_line[2] - current[2]};
float distance_to_trajectory = std::sqrt(vec_to_line[0] * vec_to_line[0] * vec_to_line[1] * vec_to_line[1] *
vec_to_line[2] * vec_to_line[2]);
CHECK(distance_to_trajectory < corridor_radius_m);
}
});
}
void AutopilotTester::offboard_land()
{
Offboard::VelocityNedYaw land_velocity;