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eb50e89d87
* workflows: remove unneeded pip dep and comments * mavsdk_tests: simple test using flow/offboard This adds a first proof of concept of a test using flow and offboard. * Flow MAVSDK test: check against ground truth * CleanUp * workflows: use latest docker image with psutil * mavsdk_tests: fix PEP8 issues * Add VTOL CI tests back * switch to non-rendering flow mockup * workflows: install mavsdk from GitHub release .deb * Add vision test and disable VTOL temporarlly * Fist draft of combining test coverage and test in one workflow * Add VTOL mavsdk tests back in CI Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: kritz <kritz@ethz.ch>
50 lines
1.8 KiB
C++
50 lines
1.8 KiB
C++
//
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// Multicopter mission test.
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//
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// Author: Julian Oes <julian@oes.ch>
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#include <mavsdk/mavsdk.h>
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#include <mavsdk/plugins/action/action.h>
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#include <mavsdk/plugins/telemetry/telemetry.h>
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#include <iostream>
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#include <string>
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#include "autopilot_tester.h"
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TEST_CASE("Takeoff and Land (Multicopter offboard)", "[multicopter_offboard]")
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{
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AutopilotTester tester;
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Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
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tester.connect(connection_url);
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tester.wait_until_ready_local_position_only();
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tester.request_ground_truth();
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Telemetry::GroundTruth home = tester.get_ground_truth_position();
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tester.arm();
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tester.offboard_goto(takeoff_position, 0.5f);
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tester.offboard_land();
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tester.wait_until_disarmed();
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REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 0.5f));
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}
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TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
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{
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AutopilotTester tester;
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Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
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Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
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Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
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Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
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tester.connect(connection_url);
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tester.wait_until_ready_local_position_only();
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tester.request_ground_truth();
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Telemetry::GroundTruth home = tester.get_ground_truth_position();
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tester.arm();
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tester.offboard_goto(takeoff_position, 0.5f);
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tester.offboard_goto(setpoint_1, 1.0f);
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tester.offboard_goto(setpoint_2, 1.0f);
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tester.offboard_goto(setpoint_3, 1.0f);
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tester.offboard_goto(takeoff_position, 0.2f);
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tester.offboard_land();
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tester.wait_until_disarmed();
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REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 1.0f));
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}
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