px4_autopilot/test/mavsdk_tests/test_multicopter_offboard.cpp

//
// Multicopter mission test.
//
// Author: 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("Offboard takeoff and land", "[multicopter][offboard][nogps]")
{
    AutopilotTester tester;
    Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
    tester.connect(connection_url);
    tester.wait_until_ready_local_position_only();
    tester.store_home();
    tester.arm();
    tester.offboard_goto(takeoff_position, 0.5f);
    tester.offboard_land();
    tester.wait_until_disarmed();
    tester.check_home_within(0.5f);
}

TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
{
    AutopilotTester tester;
    Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
    Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
    Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
    Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
    tester.connect(connection_url);
    tester.wait_until_ready_local_position_only();
    tester.store_home();
    tester.arm();
    tester.offboard_goto(takeoff_position, 0.5f);
    tester.offboard_goto(setpoint_1, 1.0f);
    tester.offboard_goto(setpoint_2, 1.0f);
    tester.offboard_goto(setpoint_3, 1.0f);
    tester.offboard_goto(takeoff_position, 0.2f);
    tester.offboard_land();
    tester.wait_until_disarmed();
    tester.check_home_within(1.0f);
}