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mavsdk_tests: add VTOL mission tests 

This adds VTOL mission tests to the CI integration tests.
This depends on MAVSDK v0.38.0.
release/1.12
Julian Oes 4 years ago committed by Daniel Agar
parent
1e88939605
commit
d714c2faec
6 changed files with 252 additions and 11 deletions
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  1. 1
      test/mavsdk_tests/CMakeLists.txt
  2. 42
      test/mavsdk_tests/autopilot_tester.cpp
  3. 5
      test/mavsdk_tests/autopilot_tester.h
  4. 4
      test/mavsdk_tests/configs/sitl.json
  5. 8
      test/mavsdk_tests/test_vtol_mission.cpp
  6. 203
      test/mavsdk_tests/vtol_mission_allmend.plan

1
test/mavsdk_tests/CMakeLists.txt
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@ -27,6 +27,7 @@ if(MAVSDK_FOUND)
MAVSDK::mavsdk_info MAVSDK::mavsdk_info
MAVSDK::mavsdk_manual_control MAVSDK::mavsdk_manual_control
MAVSDK::mavsdk_mission MAVSDK::mavsdk_mission
MAVSDK::mavsdk_mission_raw
MAVSDK::mavsdk_offboard MAVSDK::mavsdk_offboard
MAVSDK::mavsdk_param MAVSDK::mavsdk_param
MAVSDK::mavsdk_telemetry MAVSDK::mavsdk_telemetry

42
test/mavsdk_tests/autopilot_tester.cpp
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@ -36,6 +36,7 @@
#include <iostream> #include <iostream>
#include <future> #include <future>
#include <thread> #include <thread>
#include <unistd.h>
std::string connection_url {"udp://"}; std::string connection_url {"udp://"};
std::optional<float> speed_factor {std::nullopt}; std::optional<float> speed_factor {std::nullopt};
@ -70,6 +71,7 @@ void AutopilotTester::connect(const std::string uri)
_info.reset(new Info(system)); _info.reset(new Info(system));
_manual_control.reset(new ManualControl(system)); _manual_control.reset(new ManualControl(system));
_mission.reset(new Mission(system)); _mission.reset(new Mission(system));
_mission_raw.reset(new MissionRaw(system));
_offboard.reset(new Offboard(system)); _offboard.reset(new Offboard(system));
_param.reset(new Param(system)); _param.reset(new Param(system));
_telemetry.reset(new Telemetry(system)); _telemetry.reset(new Telemetry(system));
@ -219,10 +221,7 @@ void AutopilotTester::execute_mission()
std::promise<void> prom; std::promise<void> prom;
auto fut = prom.get_future(); auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) { REQUIRE(_mission->start_mission() == Mission::Result::Success);
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc. // TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
@ -327,6 +326,26 @@ Mission::MissionItem AutopilotTester::create_mission_item(
return mission_item; return mission_item;
} }
void AutopilotTester::load_qgc_mission_raw(const std::string &plan_file)
{
const auto import_result = _mission_raw->import_qgroundcontrol_mission(plan_file);
REQUIRE(import_result.first == MissionRaw::Result::Success);
REQUIRE(_mission_raw->upload_mission(import_result.second.mission_items) == MissionRaw::Result::Success);
}
void AutopilotTester::execute_mission_raw()
{
std::promise<void> prom;
auto fut = prom.get_future();
REQUIRE(_mission->start_mission() == Mission::Result::Success);
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
wait_for_mission_raw_finished(std::chrono::seconds(60));
}
void AutopilotTester::execute_rtl() void AutopilotTester::execute_rtl()
{ {
REQUIRE(Action::Result::Success == _action->return_to_launch()); REQUIRE(Action::Result::Success == _action->return_to_launch());
@ -620,6 +639,21 @@ void AutopilotTester::wait_for_mission_finished(std::chrono::seconds timeout)
REQUIRE(fut.wait_for(timeout) == std::future_status::ready); REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
} }
void AutopilotTester::wait_for_mission_raw_finished(std::chrono::seconds timeout)
{
auto prom = std::promise<void> {};
auto fut = prom.get_future();
_mission_raw->subscribe_mission_progress([&prom, this](MissionRaw::MissionProgress progress) {
if (progress.current == progress.total) {
_mission_raw->subscribe_mission_progress(nullptr);
prom.set_value();
}
});
REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
}
void AutopilotTester::report_speed_factor() void AutopilotTester::report_speed_factor()
{ {
// We check the exit flag more often than the speed factor. // We check the exit flag more often than the speed factor.

5
test/mavsdk_tests/autopilot_tester.h
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@ -40,6 +40,7 @@
#include <mavsdk/plugins/info/info.h> #include <mavsdk/plugins/info/info.h>
#include <mavsdk/plugins/manual_control/manual_control.h> #include <mavsdk/plugins/manual_control/manual_control.h>
#include <mavsdk/plugins/mission/mission.h> #include <mavsdk/plugins/mission/mission.h>
#include <mavsdk/plugins/mission_raw/mission_raw.h>
#include <mavsdk/plugins/offboard/offboard.h> #include <mavsdk/plugins/offboard/offboard.h>
#include <mavsdk/plugins/telemetry/telemetry.h> #include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/param/param.h> #include <mavsdk/plugins/param/param.h>
@ -110,6 +111,8 @@ public:
void execute_mission_and_get_mag_stuck(); void execute_mission_and_get_mag_stuck();
void execute_mission_and_lose_baro(); void execute_mission_and_lose_baro();
void execute_mission_and_get_baro_stuck(); 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 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)); 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_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_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout);
void wait_for_mission_finished(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(); void report_speed_factor();
@ -219,6 +223,7 @@ private:
std::unique_ptr<mavsdk::Info> _info{}; std::unique_ptr<mavsdk::Info> _info{};
std::unique_ptr<mavsdk::ManualControl> _manual_control{}; std::unique_ptr<mavsdk::ManualControl> _manual_control{};
std::unique_ptr<mavsdk::Mission> _mission{}; std::unique_ptr<mavsdk::Mission> _mission{};
std::unique_ptr<mavsdk::MissionRaw> _mission_raw{};
std::unique_ptr<mavsdk::Offboard> _offboard{}; std::unique_ptr<mavsdk::Offboard> _offboard{};
std::unique_ptr<mavsdk::Param> _param{}; std::unique_ptr<mavsdk::Param> _param{};
std::unique_ptr<mavsdk::Telemetry> _telemetry{}; std::unique_ptr<mavsdk::Telemetry> _telemetry{};

4
test/mavsdk_tests/configs/sitl.json
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@ -13,13 +13,13 @@
{ {
"model": "standard_vtol", "model": "standard_vtol",
"vehicle": "standard_vtol", "vehicle": "standard_vtol",
"test_filter": "[multicopter][vtol]", "test_filter": "[vtol]",
"timeout_min": 10 "timeout_min": 10
}, },
{ {
"model": "tailsitter", "model": "tailsitter",
"vehicle": "tailsitter", "vehicle": "tailsitter",
"test_filter": "[multicopter][vtol]", "test_filter": "[vtol]",
"timeout_min": 10 "timeout_min": 10
} }
] ]

8
test/mavsdk_tests/test_vtol_mission.cpp
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@ -34,15 +34,13 @@
#include "autopilot_tester.h" #include "autopilot_tester.h"
TEST_CASE("Takeoff and transition and RTL", "[vtol]") TEST_CASE("Fly VTOL mission", "[vtol]")
{ {
AutopilotTester tester; AutopilotTester tester;
tester.connect(connection_url); tester.connect(connection_url);
tester.load_qgc_mission_raw("test/mavsdk_tests/vtol_mission_allmend.plan");
tester.wait_until_ready(); tester.wait_until_ready();
tester.arm(); tester.arm();
tester.takeoff(); tester.execute_mission_raw();
tester.wait_until_hovering();
tester.transition_to_fixedwing();
tester.execute_rtl();
tester.wait_until_disarmed(); tester.wait_until_disarmed();
} }

203
test/mavsdk_tests/vtol_mission_allmend.plan
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@ -0,0 +1,203 @@
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 12,
"globalPlanAltitudeMode": 1,
"hoverSpeed": 5,
"items": [
{
"AMSLAltAboveTerrain": null,
"Altitude": 20,
"AltitudeMode": 1,
"autoContinue": true,
"command": 84,
"doJumpId": 1,
"frame": 3,
"params": [
0,
0,
0,
null,
47.35575503646861,
8.52080660767436,
20
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 20,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.35537212,
8.52207767,
20
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 30,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.35349688,
8.52355825,
30
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 30,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 4,
"frame": 3,
"params": [
0,
0,
0,
null,
47.3528936,
8.52294671,
30
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 30,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 5,
"frame": 3,
"params": [
0,
0,
0,
null,
47.35230484,
8.52030742,
30
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 30,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 6,
"frame": 3,
"params": [
0,
0,
0,
null,
47.35294448,
8.51882684,
30
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 30,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 7,
"frame": 3,
"params": [
0,
0,
0,
null,
47.35375855,
8.52002847,
30
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 20,
"AltitudeMode": 1,
"autoContinue": true,
"command": 16,
"doJumpId": 8,
"frame": 3,
"params": [
0,
0,
0,
null,
47.35552475934091,
8.51881610700002,
20
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 0,
"AltitudeMode": 1,
"autoContinue": true,
"command": 85,
"doJumpId": 9,
"frame": 3,
"params": [
0,
0,
20,
null,
47.3557210047974,
8.518762469830165,
0
],
"type": "SimpleItem"
}
],
"plannedHomePosition": [
47.3557317,
8.5187574,
419.8934400000014
],
"vehicleType": 20,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 2
},
"version": 1
}
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