test_multicopter_offboard.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("Offboard takeoff and land", "[multicopter][offboard][nogps]")
{
AutopilotTester tester;
Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.store_home();
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(90);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_land();
tester.wait_until_disarmed(std::chrono::seconds(120));
tester.check_home_within(1.0f);
}
TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
{
AutopilotTester tester;
Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
Offboard::PositionNedYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
Offboard::PositionNedYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
Offboard::PositionNedYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
tester.connect(connection_url);
tester.wait_until_ready_local_position_only();
tester.store_home();
tester.arm();
std::chrono::seconds goto_timeout = std::chrono::seconds(90);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
tester.offboard_land();
tester.wait_until_disarmed(std::chrono::seconds(120));
tester.check_home_within(1.0f);
}