Struct SitlAutopilot 

pub struct SitlAutopilot { /* private fields */ }

A hardware-free autopilot stand-in for software-in-the-loop testing.

It behaves like the parts of an autopilot a ground station first talks to: it emits a Heartbeat on demand, answers a CommandLong with a CommandAck, and speaks both sides of the mission protocol, receiving an uploaded plan and serving it back on download. Wire it to one end of a MemoryLink::pair and drive a ground-station Connection or a Vehicle on the other to exercise the full connect, command, mission, and telemetry path in a test.

Implementations

impl SitlAutopilot

pub fn new(link: MemoryLink, system_id: u8, component_id: u8) -> Self

Creates a SITL autopilot on a link, sending as the given system and component.

Arguments

• link - the autopilot’s end of a linked pair.
• system_id - the vehicle’s system id.
• component_id - the autopilot component id.

Returns

The autopilot, with signing off.

pub fn load_mission(&mut self, items: &[MissionItemInt])

Preloads the plan the autopilot serves on a mission download.

Arguments

• items - the mission items to store.

pub fn secured(self, signer: Signer, verifier: Verifier) -> Self

Signs the autopilot’s outgoing frames and verifies incoming ones with the same key.

Arguments

• signer - the signer for outgoing frames.
• verifier - the verifier for incoming signed frames.

Returns

The autopilot, for chaining.

pub async fn emit_heartbeat(&mut self) -> Result<()>

Emits a heartbeat announcing the vehicle as an active quadrotor.

Returns

Ok(()) once the heartbeat has been sent.

Errors

Returns a link error if the heartbeat cannot be written.

pub async fn serve_once(&mut self) -> Result<Frame>

Reads one frame and answers it the way an autopilot would.

A command is acknowledged as accepted; a mission upload is received and stored; a mission download is served from the stored plan. Any other frame is read and left unanswered. Call it in a loop to keep the autopilot responsive.

Returns

The frame that was read.

Errors

Returns the same errors as Connection::recv and Connection::send.