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51 lines
1.4 KiB
51 lines
1.4 KiB
// |
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// Multicopter mission test. |
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// |
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// Author: Julian Oes <julian@oes.ch> |
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#include <mavsdk/mavsdk.h> |
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#include <mavsdk/plugins/action/action.h> |
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#include <mavsdk/plugins/telemetry/telemetry.h> |
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#include <iostream> |
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#include <string> |
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#include "autopilot_tester.h" |
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TEST_CASE("Takeoff and Land (Multicopter)", "[multicopter][vtol]") |
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{ |
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AutopilotTester tester; |
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tester.connect(connection_url); |
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tester.wait_until_ready(); |
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tester.arm(); |
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tester.takeoff(); |
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tester.wait_until_hovering(); |
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tester.land(); |
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tester.wait_until_disarmed(); |
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} |
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TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]") |
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{ |
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AutopilotTester tester; |
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tester.connect(connection_url); |
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tester.wait_until_ready(); |
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SECTION("Mission including RTL") { |
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AutopilotTester::MissionOptions mission_options; |
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mission_options.rtl_at_end = true; |
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tester.prepare_square_mission(mission_options); |
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tester.arm(); |
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tester.execute_mission(); |
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tester.wait_until_disarmed(); |
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} |
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SECTION("Mission with manual RTL") { |
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AutopilotTester::MissionOptions mission_options; |
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mission_options.rtl_at_end = false; |
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tester.prepare_square_mission(mission_options); |
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tester.arm(); |
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tester.execute_mission(); |
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tester.wait_until_hovering(); |
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tester.execute_rtl(); |
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tester.wait_until_disarmed(); |
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} |
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}
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