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100 lines
3.5 KiB
100 lines
3.5 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2020 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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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][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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std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(15); |
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tester.wait_until_disarmed(until_disarmed_timeout); |
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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.check_tracks_mission(0.8f); |
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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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TEST_CASE("Fly straight Multicopter Mission", "[multicopter]") |
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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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AutopilotTester::MissionOptions mission_options; |
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mission_options.rtl_at_end = false; |
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mission_options.fly_through = true; |
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tester.prepare_straight_mission(mission_options); |
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tester.check_mission_item_speed_above(2, 4.5); |
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tester.check_tracks_mission(0.9f); |
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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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