updated tests

test/gps_baro/gps_baro_basic/config/world_config.yaml

@@ -0,0 +1,34 @@
+world_origin:
+
+  units: "LATLON" # {"UTM, "LATLON"}
+
+  origin_x: 47.397743
+  origin_y: 8.545594
+
+safety_area:
+
+  enabled: true
+
+  horizontal:
+
+    # the frame of reference in which the points are expressed
+    frame_name: "world_origin"
+
+    # polygon
+    #
+    # x, y [m] for any frame_name except latlon_origin
+    # x = latitude, y = longitude [deg]  for frame_name=="latlon_origin"
+    points: [
+      -50, -50,
+      50,  -50,
+      50,  50,
+      -50, 50,
+    ]
+
+  vertical:
+
+    # the frame of reference in which the max&min z is expressed
+    frame_name: "world_origin"
+
+    max_z: 15.0
+    min_z: -2.0

test/gps_baro/gps_baro_basic/gps_baro_basic.test

@@ -26,6 +26,7 @@
     <arg name="automatic_start" default="false" />
     <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
     <arg name="custom_config" default="$(dirname)/config/custom_config.yaml" />
+    <arg name="world_config" default="$(dirname)/config/world_config.yaml" />
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>