test_multicopter_mission.cpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#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][vtol]")
{
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][vtol]")
{
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);
}