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#include <thread>
#include <chrono>

#include "autopilot_tester_failure.h"

TEST_CASE("Failure Injection - Reject mid-air when it is disabled", "[multicopter]")
{
	AutopilotTesterFailure tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.set_param_int("SYS_FAILURE_EN", 0);
	tester.arm();
	tester.takeoff();
	tester.wait_until_hovering();
	tester.inject_failure(mavsdk::Failure::FailureUnit::SystemMotor, mavsdk::Failure::FailureType::Off, 1,
			      mavsdk::Failure::Result::Disabled);
	tester.execute_rtl();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}