forked from Archive/PX4-Autopilot
76 lines
3.3 KiB
C++
76 lines
3.3 KiB
C++
/****************************************************************************
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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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#include "autopilot_tester.h"
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#include <chrono>
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TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
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{
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AutopilotTester tester;
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Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
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tester.arm();
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std::chrono::seconds goto_timeout = std::chrono::seconds(90);
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tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
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tester.offboard_land();
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tester.wait_until_disarmed(std::chrono::seconds(120));
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tester.check_home_within(1.0f);
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}
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TEST_CASE("Offboard position control", "[multicopter][offboard]")
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{
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AutopilotTester tester;
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Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
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Offboard::PositionNedYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
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Offboard::PositionNedYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
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Offboard::PositionNedYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
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tester.arm();
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std::chrono::seconds goto_timeout = std::chrono::seconds(120);
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tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
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tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
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tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
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tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
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tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
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tester.offboard_land();
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tester.wait_until_disarmed(std::chrono::seconds(120));
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tester.check_home_within(1.0f);
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}
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