forked from Archive/PX4-Autopilot
58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
//
|
|
// Plane mission test.
|
|
//
|
|
// Author: Lorenz Meier <lorenz@px4.io>, Julian Oes <julian@oes.ch>
|
|
|
|
#include <mavsdk/mavsdk.h>
|
|
#include <mavsdk/plugins/action/action.h>
|
|
#include <mavsdk/plugins/telemetry/telemetry.h>
|
|
#include <iostream>
|
|
#include <string>
|
|
#include "autopilot_tester.h"
|
|
|
|
|
|
TEST_CASE("Takeoff and land (plane)", "[plane]")
|
|
{
|
|
AutopilotTester tester;
|
|
tester.connect(connection_url);
|
|
tester.wait_until_ready();
|
|
tester.arm();
|
|
tester.takeoff();
|
|
tester.wait_until_hovering();
|
|
tester.land();
|
|
tester.wait_until_disarmed();
|
|
}
|
|
|
|
// TODO: Add land pattern
|
|
|
|
// TEST_CASE("Fly square missions (plane)", "[plane]")
|
|
// {
|
|
// AutopilotTester tester;
|
|
// tester.connect(connection_url);
|
|
// tester.wait_until_ready();
|
|
|
|
// SECTION("Mission including RTL (plane)") {
|
|
// AutopilotTester::MissionOptions mission_options;
|
|
// mission_options.leg_length_m = 250.0;
|
|
// mission_options.relative_altitude_m = 40.0;
|
|
// mission_options.rtl_at_end = true;
|
|
// tester.prepare_square_mission(mission_options);
|
|
// tester.arm();
|
|
// tester.execute_mission();
|
|
// tester.wait_until_disarmed();
|
|
// }
|
|
|
|
// SECTION("Mission with manual RTL (plane)") {
|
|
// AutopilotTester::MissionOptions mission_options;
|
|
// mission_options.leg_length_m = 250.0;
|
|
// mission_options.relative_altitude_m = 40.0;
|
|
// mission_options.rtl_at_end = false;
|
|
// tester.prepare_square_mission(mission_options);
|
|
// tester.arm();
|
|
// tester.execute_mission();
|
|
// tester.wait_until_hovering();
|
|
// tester.execute_rtl();
|
|
// tester.wait_until_disarmed();
|
|
// }
|
|
// }
|