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75 lines
3.1 KiB
75 lines
3.1 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("Offboard takeoff and land", "[multicopter][offboard][nogps]") |
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{ |
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AutopilotTester tester; |
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Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f}; |
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tester.connect(connection_url); |
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tester.wait_until_ready_local_position_only(); |
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tester.store_home(); |
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tester.arm(); |
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tester.offboard_goto(takeoff_position, 0.5f); |
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tester.offboard_land(); |
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tester.wait_until_disarmed(); |
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tester.check_home_within(0.5f); |
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} |
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TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]") |
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{ |
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AutopilotTester tester; |
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Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f}; |
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Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f}; |
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Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f}; |
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Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f}; |
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tester.connect(connection_url); |
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tester.wait_until_ready_local_position_only(); |
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tester.store_home(); |
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tester.arm(); |
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tester.offboard_goto(takeoff_position, 0.5f); |
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tester.offboard_goto(setpoint_1, 1.0f); |
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tester.offboard_goto(setpoint_2, 1.0f); |
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tester.offboard_goto(setpoint_3, 1.0f); |
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tester.offboard_goto(takeoff_position, 0.2f); |
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tester.offboard_land(); |
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tester.wait_until_disarmed(); |
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tester.check_home_within(1.0f); |
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}
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