diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_new_2.plan b/integrationtests/python_src/px4_it/mavros/missions/vtol_new_2.plan index 2913de108f..3678c7c0b1 100644 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_new_2.plan +++ b/integrationtests/python_src/px4_it/mavros/missions/vtol_new_2.plan @@ -1,9 +1,6 @@ { "fileType": "Plan", "geoFence": { - "polygon": [ - ], - "version": 1 }, "groundStation": "QGroundControl", "mission": { @@ -12,22 +9,28 @@ "hoverSpeed": 5, "items": [ { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 84, "doJumpId": 1, "frame": 3, "params": [ - 15.0, + 15, 0, 0, null, - 47.397746387399621, - 8.5455920888607579, - 12.0 + 47.39774638739962, + 8.545592088860758, + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 16, "doJumpId": 2, @@ -37,35 +40,76 @@ 0, 0, null, - 47.399093548895856, - 8.5455438069836305, - 12.0 + 47.3981026817918, + 8.548114267064136, + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 50, + "AltitudeMode": 0, "autoContinue": true, - "command": 85, + "command": 16, "doJumpId": 3, "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39995383332046, + 8.54783592762601, + 50 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": null, + "Altitude": 20, + "AltitudeMode": 0, + "autoContinue": true, + "command": 16, + "doJumpId": 4, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39998472464772, + 8.544660189638307, + 20 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": null, + "Altitude": 0, + "AltitudeMode": 0, + "autoContinue": true, + "command": 85, + "doJumpId": 5, + "frame": 3, "params": [ 0, 0, 0, null, 47.39903545, - 8.5432263800000001, - 0.0 + 8.54322638, + 0 ], "type": "SimpleItem" } ], "plannedHomePosition": [ - 47.397742, - 8.545594, - 12.0 + 47.3977419, + 8.5455943, + 489 ], - "vehicleType": 19, + "vehicleType": 20, "version": 2 }, "rallyPoints": { diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan b/integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan index f4a805da07..d0175fc5d3 100644 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan +++ b/integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan @@ -1,9 +1,6 @@ { "fileType": "Plan", "geoFence": { - "polygon": [ - ], - "version": 1 }, "groundStation": "QGroundControl", "mission": { @@ -12,18 +9,21 @@ "hoverSpeed": 5, "items": [ { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 22, "doJumpId": 1, "frame": 3, "params": [ - 15.0, + 15, 0, 0, null, - 47.398046406687619, - 8.5458366721115908, - 12.0 + 47.39804640668762, + 8.54583667211159, + 12 ], "type": "SimpleItem" }, @@ -38,12 +38,15 @@ 0, 0, 47.398033142089844, - 8.5457897186279297, - 12.0 + 8.54578971862793, + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 16, "doJumpId": 3, @@ -53,13 +56,16 @@ 0, 0, null, - 47.399269104003906, - 8.5455722808837891, - 12.0 + 47.398882302443944, + 8.544601519419729, + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 16, "doJumpId": 4, @@ -69,51 +75,130 @@ 0, 0, null, - 47.399281145681528, + 47.399831101001084, + 8.54424775753435, + 12 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, + "autoContinue": true, + "command": 16, + "doJumpId": 5, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.400661353275886, + 8.544699555148952, + 12 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, + "autoContinue": true, + "command": 16, + "doJumpId": 6, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.40083843752823, + 8.546172909420818, + 12 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, + "autoContinue": true, + "command": 16, + "doJumpId": 7, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.40019385680461, + 8.547528070486777, + 12 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, + "autoContinue": true, + "command": 16, + "doJumpId": 8, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39928114568153, 8.547910568913295, - 12.0 + 12 ], "type": "SimpleItem" }, { "autoContinue": true, "command": 3000, - "doJumpId": 5, + "doJumpId": 9, "frame": 2, "params": [ 3, 0, 0, 0, - 47.397785186767578, + 47.39778518676758, 8.545262336730957, - 12.0 + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 21, - "doJumpId": 6, + "doJumpId": 10, "frame": 3, "params": [ - 25.0, + 25, 0, 0, null, 47.398884865088675, 8.547918116539563, - 12.0 + 12 ], "type": "SimpleItem" } ], "plannedHomePosition": [ - 47.397742, - 8.545594, - 12.0 + 47.3977419, + 8.5455943, + 489 ], - "vehicleType": 19, + "vehicleType": 20, "version": 2 }, "rallyPoints": { diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_2.plan b/integrationtests/python_src/px4_it/mavros/missions/vtol_old_2.plan index a33c83f20c..d923400e8e 100644 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_2.plan +++ b/integrationtests/python_src/px4_it/mavros/missions/vtol_old_2.plan @@ -1,9 +1,6 @@ { "fileType": "Plan", "geoFence": { - "polygon": [ - ], - "version": 1 }, "groundStation": "QGroundControl", "mission": { @@ -12,18 +9,21 @@ "hoverSpeed": 5, "items": [ { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 22, "doJumpId": 1, "frame": 3, "params": [ - 15.0, + 15, 0, 0, null, - 47.397740722711738, - 8.5455944102696719, - 12.0 + 47.39774072271174, + 8.545594410269672, + 12 ], "type": "SimpleItem" }, @@ -37,13 +37,16 @@ 0, 0, 0, - 47.397732380000001, - 8.5458224099999995, - 12.0 + 47.39773238, + 8.54582241, + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 16, "doJumpId": 3, @@ -53,13 +56,16 @@ 0, 0, 0, - 47.397749067235559, - 8.5429755110031351, - 12.0 + 47.39693448800759, + 8.540991562303702, + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 16, "doJumpId": 4, @@ -69,9 +75,9 @@ 0, 0, null, - 47.399213119631852, - 8.5430124879018479, - 12.0 + 47.39921311963185, + 8.543012487901848, + 12 ], "type": "SimpleItem" }, @@ -85,35 +91,38 @@ 0, 0, 0, - 47.399158900000003, - 8.5429077299999996, - 12.0 + 47.3991589, + 8.54290773, + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 21, "doJumpId": 6, "frame": 3, "params": [ - 25.0, + 25, 0, 0, null, - 47.399211883544922, - 8.5430123448444419, - 12.0 + 47.39921188354492, + 8.543012344844442, + 12 ], "type": "SimpleItem" } ], "plannedHomePosition": [ - 47.397742, - 8.545594, - 12.0 + 47.3977419, + 8.5455943, + 489 ], - "vehicleType": 19, + "vehicleType": 20, "version": 2 }, "rallyPoints": { diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_3.plan b/integrationtests/python_src/px4_it/mavros/missions/vtol_old_3.plan index c2437428f1..d595c3cb51 100644 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_3.plan +++ b/integrationtests/python_src/px4_it/mavros/missions/vtol_old_3.plan @@ -1,9 +1,6 @@ { "fileType": "Plan", "geoFence": { - "polygon": [ - ], - "version": 1 }, "groundStation": "QGroundControl", "mission": { @@ -12,18 +9,21 @@ "hoverSpeed": 5, "items": [ { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 16, "doJumpId": 1, "frame": 3, "params": [ - 15.0, + 15, 0, 0, null, 47.398157669127094, - 8.5460336317115377, - 12.0 + 8.546033631711538, + 12 ], "type": "SimpleItem" }, @@ -38,12 +38,15 @@ 0, 0, 47.398033142089844, - 8.5457897186279297, - 12.0 + 8.54578971862793, + 12 ], "type": "SimpleItem" }, { + "AMSLAltAboveTerrain": null, + "Altitude": 12, + "AltitudeMode": 0, "autoContinue": true, "command": 16, "doJumpId": 3, @@ -53,19 +56,19 @@ 0, 0, null, - 47.399269104003906, - 8.5455722808837891, - 12.0 + 47.400993929351195, + 8.544680403485842, + 12 ], "type": "SimpleItem" } ], "plannedHomePosition": [ - 47.397742, - 8.545594, - 12.0 + 47.3977419, + 8.5455943, + 489 ], - "vehicleType": 19, + "vehicleType": 20, "version": 2 }, "rallyPoints": {