Move mavsdk_tests into test

test/mavsdk_tests/autopilot_tester.h

@@ -0,0 +1,63 @@
+#pragma once
+
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/geometry.h>
+#include <mavsdk/plugins/action/action.h>
+#include <mavsdk/plugins/mission/mission.h>
+#include <mavsdk/plugins/telemetry/telemetry.h>
+#include "catch2/catch.hpp"
+#include <chrono>
+#include <memory>
+#include <thread>
+
+extern std::string connection_url;
+
+class AutopilotTester {
+public:
+    struct MissionOptions {
+        double leg_length_m {20.0};
+        double relative_altitude_m {10.0};
+        bool rtl_at_end {false};
+    };
+
+    void connect(const std::string uri);
+    void wait_until_ready();
+    void set_takeoff_altitude(const float altitude_m);
+    void arm();
+    void takeoff();
+    void land();
+    void wait_until_disarmed();
+    void wait_until_hovering();
+    void prepare_square_mission(MissionOptions mission_options);
+    void execute_mission();
+    void execute_rtl();
+
+private:
+    mavsdk::geometry::CoordinateTransformation _get_coordinate_transformation();
+    std::shared_ptr<mavsdk::MissionItem> _create_mission_item(
+        const mavsdk::geometry::CoordinateTransformation::LocalCoordinate& local_coordinate,
+        const MissionOptions& mission_options,
+        const mavsdk::geometry::CoordinateTransformation& ct);
+
+    mavsdk::Mavsdk _mavsdk{};
+    std::unique_ptr<mavsdk::Telemetry> _telemetry{};
+    std::unique_ptr<mavsdk::Action> _action{};
+    std::unique_ptr<mavsdk::Mission> _mission{};
+};
+
+template<typename Rep, typename Period>
+bool poll_condition_with_timeout(
+    std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
+{
+    // We need millisecond resolution for sleeping.
+    const std::chrono::milliseconds duration_ms(duration);
+
+    unsigned iteration = 0;
+    while (!fun()) {
+        std::this_thread::sleep_for(duration_ms / 10);
+        if (iteration++ >= 10) {
+            return false;
+        }
+    }
+    return true;
+}