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#include "autopilot_tester.h"
#include <chrono>


TEST_CASE("Takeoff and Land", "[multicopter][vtol]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.arm();
	tester.takeoff();
	tester.wait_until_hovering();
	tester.land();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Fly square Multicopter Missions including RTL", "[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();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Fly square Multicopter Missions with manual RTL", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = false;
	tester.prepare_square_mission(mission_options);
	tester.check_tracks_mission(5.f);
	tester.arm();
	tester.execute_mission();
	tester.wait_until_hovering();
	tester.execute_rtl();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}

TEST_CASE("Fly straight Multicopter Mission", "[multicopter]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.wait_until_ready();

	AutopilotTester::MissionOptions mission_options;
	mission_options.rtl_at_end = false;
	mission_options.fly_through = true;
	tester.prepare_straight_mission(mission_options);
	tester.check_mission_item_speed_above(2, 4.0);
	tester.check_tracks_mission(5.f);
	tester.arm();
	tester.execute_mission();
	tester.wait_until_hovering();
	tester.execute_rtl();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
	tester.wait_until_disarmed(until_disarmed_timeout);
}