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#include "autopilot_tester.h"


TEST_CASE("Land on GPS lost during mission (baro height mode)", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);

	tester.set_height_source(AutopilotTester::HeightSource::Baro);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = true;
	tester.prepare_square_mission(mission_options);
	tester.arm();
	tester.execute_mission_and_lose_gps();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(300);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Land on GPS lost during mission (GPS height mode)", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);

	tester.set_height_source(AutopilotTester::HeightSource::Gps);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = true;
	tester.prepare_square_mission(mission_options);
	tester.arm();
	tester.execute_mission_and_lose_gps();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Continue on mag lost during mission", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = true;
	tester.prepare_square_mission(mission_options);
	tester.arm();
	tester.execute_mission_and_lose_mag();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

#if 0
// This test is disabled for now because the estimator sometimes diverges on
// right after landing which then prevents auto-disarm.
TEST_CASE("Continue on mag stuck during mission", "[multicopter][vtol]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = true;
	tester.prepare_square_mission(mission_options);
	tester.arm();
	tester.execute_mission_and_get_mag_stuck();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}
#endif

TEST_CASE("Continue on baro lost during mission (baro height mode)", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.set_height_source(AutopilotTester::HeightSource::Baro);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = true;
	tester.prepare_square_mission(mission_options);
	tester.arm();
	tester.execute_mission_and_lose_baro();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Continue on baro lost during mission (GPS height mode)", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.set_height_source(AutopilotTester::HeightSource::Gps);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = true;
	tester.prepare_square_mission(mission_options);
	tester.arm();
	tester.execute_mission_and_lose_baro();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Continue on baro stuck during mission (baro height mode)", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.set_height_source(AutopilotTester::HeightSource::Baro);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = true;
	tester.prepare_square_mission(mission_options);
	tester.arm();
	tester.execute_mission_and_get_baro_stuck();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Continue on baro stuck during mission (GPS height mode)", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.set_height_source(AutopilotTester::HeightSource::Gps);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = true;
	tester.prepare_square_mission(mission_options);
	tester.arm();
	tester.execute_mission_and_get_baro_stuck();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}