Add custom action plugin

src/integration_tests/CMakeLists.txt

@@ -1,3 +1,6 @@
+# Required for custom_action plugin testing
+find_package(Python3 COMPONENTS Interpreter)
+
 # SYSTEM because we don't want warnings for gtest headers.
 include_directories(
     SYSTEM ${PROJECT_SOURCE_DIR}/third_party/gtest/googletest/include
@@ -38,6 +41,8 @@ add_executable(integration_tests_runner
     camera_format.cpp
     camera_test_helpers.cpp
     connection.cpp
+    custom_action.cpp
+    custom_action_mission.cpp
     follow_me.cpp
     geofence_inclusion.cpp
     gimbal.cpp
@@ -82,6 +87,7 @@ target_link_libraries(integration_tests_runner
     mavsdk
     mavsdk_telemetry
     mavsdk_action
+    mavsdk_custom_action
     mavsdk_mission
     mavsdk_mission_raw
     mavsdk_offboard

src/integration_tests/action_goto.cpp

@@ -39,6 +39,10 @@ TEST_F(SitlTest, ActionGoto)
         ASSERT_LT(++iteration, 10);
     }
 
+    // Get the home position so the Go To items are set with respect
+    // to the home position instead of being hardcoded.
+    auto home = telemetry->home();
+
     auto action = std::make_shared<Action>(system);
     Action::Result action_ret = action->arm();
     EXPECT_EQ(action_ret, Action::Result::Success);
@@ -49,11 +53,11 @@ TEST_F(SitlTest, ActionGoto)
     std::this_thread::sleep_for(std::chrono::seconds(2));
 
     // Go somewhere
-    action->goto_location(47.398000, 8.545592, NAN, NAN);
+    action->goto_location(home.latitude_deg + 0.0002493, home.longitude_deg - 0.0000154, NAN, NAN);
     std::this_thread::sleep_for(std::chrono::seconds(10));
 
     // And back
-    action->goto_location(47.3977233, 8.545592, NAN, NAN);
+    action->goto_location(home.latitude_deg, home.longitude_deg, NAN, NAN);
     std::this_thread::sleep_for(std::chrono::seconds(10));
 
     action_ret = action->land();