From 5c3d551519299138315f228d7788eda243bcb802 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Sat, 6 Jan 2024 18:24:02 +0100
Subject: [PATCH] updated tests

---
 .../gps_baro_basic/config/world_config.yaml   | 34 +++++++++++++++++++
 .../gps_baro_basic/gps_baro_basic.test        |  1 +
 2 files changed, 35 insertions(+)
 create mode 100644 test/gps_baro/gps_baro_basic/config/world_config.yaml

diff --git a/test/gps_baro/gps_baro_basic/config/world_config.yaml b/test/gps_baro/gps_baro_basic/config/world_config.yaml
new file mode 100644
index 0000000..59f9c50
--- /dev/null
+++ b/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
diff --git a/test/gps_baro/gps_baro_basic/gps_baro_basic.test b/test/gps_baro/gps_baro_basic/gps_baro_basic.test
index dd26c61..7f455e7 100644
--- a/test/gps_baro/gps_baro_basic/gps_baro_basic.test
+++ b/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>