px4-firmware/test/mavsdk_tests/test_multicopter_offboard.cpp

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#include "autopilot_tester.h"
#include <chrono>


TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
{
	AutopilotTester tester;
	Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
	tester.arm();
	std::chrono::seconds goto_timeout = std::chrono::seconds(90);
	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
	tester.offboard_land();
	tester.wait_until_disarmed(std::chrono::seconds(120));
	tester.check_home_within(1.0f);
}

TEST_CASE("Offboard position control", "[multicopter][offboard]")
{
	AutopilotTester tester;
	Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
	Offboard::PositionNedYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
	Offboard::PositionNedYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
	Offboard::PositionNedYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
	tester.arm();
	std::chrono::seconds goto_timeout = std::chrono::seconds(120);
	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
	tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
	tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
	tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
	tester.offboard_land();
	tester.wait_until_disarmed(std::chrono::seconds(120));
	tester.check_home_within(1.0f);
}