test_multicopter_manual.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"
TEST_CASE("Fly forward in position control", "[multicopter][vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
tester.wait_until_ready();
tester.store_home();
tester.arm();
tester.fly_forward_in_posctl();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
tester.wait_until_disarmed(until_disarmed_timeout);
tester.check_home_not_within(5.f);
}
TEST_CASE("Fly forward in altitude control", "[multicopter][vtol]")
{
AutopilotTester tester;
tester.connect(connection_url);
tester.wait_until_ready();
tester.store_home();
tester.arm();
tester.fly_forward_in_altctl();
std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(180);
tester.wait_until_disarmed(until_disarmed_timeout);
tester.check_home_not_within(5.f);
}