//
// 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();
//     }
// }