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#include "autopilot_tester.h"
#include "autopilot_tester_failure.h"


TEST_CASE("Fly VTOL Loiter with airspeed failure", "[vtol_airspeed_fail]")
{
	AutopilotTesterFailure tester;
	tester.connect(connection_url);
	tester.wait_until_ready();

	tester.enable_fixedwing_mectrics();

	// configuration
	const float takeoff_altitude = 10.f;
	tester.set_takeoff_altitude(takeoff_altitude);

	tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_straight_south.plan");
	tester.arm();

	tester.takeoff();
	tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30));
	tester.transition_to_fixedwing();


	// tester.wait_until_altitude(50.f, std::chrono::seconds(30));
	std::this_thread::sleep_for(std::chrono::seconds(10));
	tester.inject_failure(mavsdk::Failure::FailureUnit::SensorAirspeed, mavsdk::Failure::FailureType::Wrong, 0,
			      mavsdk::Failure::Result::Success);


	std::this_thread::sleep_for(std::chrono::seconds(10));

	tester.check_airspeed_is_invalid(); // it's enough to check once after landing, as invalidation is permanent
}