2020-03-17 12:15:34 -03:00
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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2019-10-02 15:14:18 -03:00
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#include "autopilot_tester.h"
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2020-07-31 04:43:50 -03:00
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#include <chrono>
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2019-10-02 15:14:18 -03:00
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2020-03-10 13:06:37 -03:00
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TEST_CASE("Takeoff and Land", "[multicopter][vtol]")
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2019-10-02 15:14:18 -03:00
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{
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2020-03-17 12:15:34 -03:00
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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tester.land();
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2020-11-16 15:35:21 -04:00
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
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2020-05-05 06:42:06 -03:00
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tester.wait_until_disarmed(until_disarmed_timeout);
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2019-10-02 15:14:18 -03:00
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}
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2021-07-19 13:10:38 -03:00
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TEST_CASE("Fly square Multicopter Missions including RTL", "[multicopter]")
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2019-10-02 15:14:18 -03:00
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{
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2020-03-17 12:15:34 -03:00
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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2019-10-02 15:14:18 -03:00
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2020-07-31 04:41:08 -03:00
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission();
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
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tester.wait_until_disarmed(until_disarmed_timeout);
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}
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2021-07-19 13:10:38 -03:00
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TEST_CASE("Fly square Multicopter Missions with manual RTL", "[multicopter]")
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2020-07-31 04:41:08 -03:00
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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2019-10-02 15:14:18 -03:00
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2020-07-31 04:41:08 -03:00
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = false;
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tester.prepare_square_mission(mission_options);
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2021-01-27 11:47:18 -04:00
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tester.check_tracks_mission(5.f);
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2020-07-31 04:41:08 -03:00
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tester.arm();
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tester.execute_mission();
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tester.wait_until_hovering();
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tester.execute_rtl();
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
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tester.wait_until_disarmed(until_disarmed_timeout);
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2019-11-11 10:34:08 -04:00
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}
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2020-07-09 12:36:24 -03:00
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TEST_CASE("Fly straight Multicopter Mission", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = false;
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mission_options.fly_through = true;
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tester.prepare_straight_mission(mission_options);
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2021-02-21 13:53:26 -04:00
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tester.check_mission_item_speed_above(2, 4.0);
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2021-01-27 11:47:18 -04:00
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tester.check_tracks_mission(5.f);
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2020-07-09 12:36:24 -03:00
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tester.arm();
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tester.execute_mission();
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tester.wait_until_hovering();
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tester.execute_rtl();
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2020-11-16 15:35:21 -04:00
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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
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2020-07-31 04:41:08 -03:00
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tester.wait_until_disarmed(until_disarmed_timeout);
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2020-07-09 12:36:24 -03:00
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}
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