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57 lines
1.7 KiB
57 lines
1.7 KiB
// |
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// Plane mission test. |
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// |
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// Author: Lorenz Meier <lorenz@px4.io>, 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 (plane)", "[plane]") |
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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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// TODO: Add land pattern |
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// TEST_CASE("Fly square missions (plane)", "[plane]") |
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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 (plane)") { |
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// AutopilotTester::MissionOptions mission_options; |
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// mission_options.leg_length_m = 250.0; |
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// mission_options.relative_altitude_m = 40.0; |
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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 (plane)") { |
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// AutopilotTester::MissionOptions mission_options; |
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// mission_options.leg_length_m = 250.0; |
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// mission_options.relative_altitude_m = 40.0; |
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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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