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PavelGuzenfeldPavelGuzenfeld
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Add system tests for RC status via SYS_STATUS and RC_CHANNELS
Three tests verify RC status data flows correctly: - RcStatusViaSysStatus: SYS_STATUS with RC receiver healthy → is_available=true - RcStatusViaRcChannels: RC_CHANNELS with rssi=200 → signal_strength=200 - RcStatusUnavailableViaSysStatus: SYS_STATUS with RC unhealthy → is_available=false These cover both the ArduPilot path (SYS_STATUS) and the PX4 path (RC_CHANNELS) for RC status telemetry.
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‎cpp/src/system_tests/CMakeLists.txt‎

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@@ -15,6 +15,7 @@ add_executable(system_tests_runner
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param_get_all.cpp
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mission_raw_upload.cpp
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telemetry_subscription.cpp
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telemetry_rc_status.cpp
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fs_helpers.cpp
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ftp_download_file.cpp
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ftp_download_file_burst.cpp

‎cpp/src/system_tests/telemetry_rc_status.cpp‎

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#include "log.h"
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#include "mavsdk.h"
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#include "plugins/telemetry/telemetry.h"
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#include "plugins/mavlink_direct/mavlink_direct.h"
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#include <atomic>
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#include <chrono>
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#include <future>
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#include <thread>
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#include <gtest/gtest.h>
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using namespace mavsdk;
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// Test that RC status updates arrive via SYS_STATUS messages.
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// This is the path used by ArduPilot where RC receiver health
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// is reported through the SYS_STATUS sensor flags.
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TEST(SystemTest, RcStatusViaSysStatus)
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{
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Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
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Mavsdk mavsdk_autopilot{Mavsdk::Configuration{ComponentType::Autopilot}};
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ASSERT_EQ(
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mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:15220"),
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ConnectionResult::Success);
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ASSERT_EQ(
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mavsdk_autopilot.add_any_connection("udpout://127.0.0.1:15220"),
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ConnectionResult::Success);
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auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
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ASSERT_TRUE(maybe_system);
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auto system = maybe_system.value();
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while (mavsdk_autopilot.systems().size() == 0) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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}
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auto gs_system = mavsdk_autopilot.systems().at(0);
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auto telemetry = Telemetry{system};
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auto sender = MavlinkDirect{gs_system};
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auto prom = std::promise<Telemetry::RcStatus>{};
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auto fut = prom.get_future();
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std::atomic<bool> received{false};
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auto handle = telemetry.subscribe_rc_status([&](const Telemetry::RcStatus& rc_status) {
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if (!received.exchange(true)) {
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prom.set_value(rc_status);
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}
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});
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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// Send SYS_STATUS with RC receiver present and healthy
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// MAV_SYS_STATUS_SENSOR_RC_RECEIVER = 0x10000 = 65536
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const uint32_t rc_receiver_flag = 65536;
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MavlinkDirect::MavlinkMessage msg;
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msg.message_name = "SYS_STATUS";
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msg.system_id = 1;
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msg.component_id = 1;
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msg.target_system_id = 0;
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msg.target_component_id = 0;
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msg.fields_json =
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"{\"onboard_control_sensors_present\":" + std::to_string(rc_receiver_flag) +
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",\"onboard_control_sensors_enabled\":" + std::to_string(rc_receiver_flag) +
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",\"onboard_control_sensors_health\":" + std::to_string(rc_receiver_flag) +
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",\"load\":0,\"voltage_battery\":0,\"current_battery\":0,"
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"\"battery_remaining\":-1,\"drop_rate_comm\":0,\"errors_comm\":0,"
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"\"errors_count1\":0,\"errors_count2\":0,\"errors_count3\":0,\"errors_count4\":0}";
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auto result = sender.send_message(msg);
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EXPECT_EQ(result, MavlinkDirect::Result::Success);
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ASSERT_EQ(fut.wait_for(std::chrono::seconds(5)), std::future_status::ready);
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auto rc_status = fut.get();
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// RC receiver is healthy → is_available should be true
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EXPECT_TRUE(rc_status.is_available);
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telemetry.unsubscribe_rc_status(handle);
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}
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// Test that RC status updates arrive via RC_CHANNELS messages.
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// This is the path used by PX4 where RC signal strength is
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// reported through the RC_CHANNELS message rssi field.
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TEST(SystemTest, RcStatusViaRcChannels)
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{
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Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
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Mavsdk mavsdk_autopilot{Mavsdk::Configuration{ComponentType::Autopilot}};
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ASSERT_EQ(
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mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:15221"),
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ConnectionResult::Success);
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ASSERT_EQ(
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mavsdk_autopilot.add_any_connection("udpout://127.0.0.1:15221"),
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ConnectionResult::Success);
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auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
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ASSERT_TRUE(maybe_system);
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auto system = maybe_system.value();
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while (mavsdk_autopilot.systems().size() == 0) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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}
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auto gs_system = mavsdk_autopilot.systems().at(0);
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auto telemetry = Telemetry{system};
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auto sender = MavlinkDirect{gs_system};
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auto prom = std::promise<Telemetry::RcStatus>{};
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auto fut = prom.get_future();
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std::atomic<bool> received{false};
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auto handle = telemetry.subscribe_rc_status([&](const Telemetry::RcStatus& rc_status) {
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// Wait for a callback that has signal_strength set (from RC_CHANNELS)
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if (rc_status.signal_strength_percent > 0.0f && !received.exchange(true)) {
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prom.set_value(rc_status);
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}
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});
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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// Send RC_CHANNELS with rssi = 200 (out of 255)
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MavlinkDirect::MavlinkMessage msg;
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msg.message_name = "RC_CHANNELS";
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msg.system_id = 1;
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msg.component_id = 1;
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msg.target_system_id = 0;
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msg.target_component_id = 0;
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msg.fields_json =
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R"({"time_boot_ms":1000,"chancount":8,"chan1_raw":1500,"chan2_raw":1500,)"
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R"("chan3_raw":1500,"chan4_raw":1500,"chan5_raw":0,"chan6_raw":0,)"
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R"("chan7_raw":0,"chan8_raw":0,"chan9_raw":0,"chan10_raw":0,)"
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R"("chan11_raw":0,"chan12_raw":0,"chan13_raw":0,"chan14_raw":0,)"
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R"("chan15_raw":0,"chan16_raw":0,"chan17_raw":0,"chan18_raw":0,"rssi":200})";
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auto result = sender.send_message(msg);
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EXPECT_EQ(result, MavlinkDirect::Result::Success);
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ASSERT_EQ(fut.wait_for(std::chrono::seconds(5)), std::future_status::ready);
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auto rc_status = fut.get();
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// rssi is stored directly as signal_strength_percent (raw value 0-254)
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EXPECT_FLOAT_EQ(rc_status.signal_strength_percent, 200.0f);
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telemetry.unsubscribe_rc_status(handle);
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}
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// Test that RC status correctly reports unavailable when
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// SYS_STATUS reports RC receiver not healthy.
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TEST(SystemTest, RcStatusUnavailableViaSysStatus)
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{
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Mavsdk mavsdk_groundstation{Mavsdk::Configuration{ComponentType::GroundStation}};
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Mavsdk mavsdk_autopilot{Mavsdk::Configuration{ComponentType::Autopilot}};
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ASSERT_EQ(
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mavsdk_groundstation.add_any_connection("udpin://0.0.0.0:15222"),
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ConnectionResult::Success);
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ASSERT_EQ(
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mavsdk_autopilot.add_any_connection("udpout://127.0.0.1:15222"),
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ConnectionResult::Success);
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auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
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ASSERT_TRUE(maybe_system);
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auto system = maybe_system.value();
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while (mavsdk_autopilot.systems().size() == 0) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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}
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auto gs_system = mavsdk_autopilot.systems().at(0);
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auto telemetry = Telemetry{system};
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auto sender = MavlinkDirect{gs_system};
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auto prom = std::promise<Telemetry::RcStatus>{};
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auto fut = prom.get_future();
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std::atomic<bool> received{false};
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auto handle = telemetry.subscribe_rc_status([&](const Telemetry::RcStatus& rc_status) {
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if (!received.exchange(true)) {
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prom.set_value(rc_status);
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}
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});
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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// Send SYS_STATUS with RC receiver present but NOT healthy
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// MAV_SYS_STATUS_SENSOR_RC_RECEIVER = 0x10000 = 65536
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const uint32_t rc_receiver_flag = 65536;
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MavlinkDirect::MavlinkMessage msg;
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msg.message_name = "SYS_STATUS";
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msg.system_id = 1;
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msg.component_id = 1;
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msg.target_system_id = 0;
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msg.target_component_id = 0;
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msg.fields_json =
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"{\"onboard_control_sensors_present\":" + std::to_string(rc_receiver_flag) +
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",\"onboard_control_sensors_enabled\":" + std::to_string(rc_receiver_flag) +
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",\"onboard_control_sensors_health\":0"
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",\"load\":0,\"voltage_battery\":0,\"current_battery\":0,"
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"\"battery_remaining\":-1,\"drop_rate_comm\":0,\"errors_comm\":0,"
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"\"errors_count1\":0,\"errors_count2\":0,\"errors_count3\":0,\"errors_count4\":0}";
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auto result = sender.send_message(msg);
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EXPECT_EQ(result, MavlinkDirect::Result::Success);
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ASSERT_EQ(fut.wait_for(std::chrono::seconds(5)), std::future_status::ready);
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auto rc_status = fut.get();
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// RC receiver present but not healthy → is_available should be false
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EXPECT_FALSE(rc_status.is_available);
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telemetry.unsubscribe_rc_status(handle);
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}

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