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Plane tester: Complement test

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Prepare wider plane test.
This commit is contained in:
Lorenz Meier
2020-01-25 16:03:13 +01:00
parent de8fadf1f5
commit 480e67fcd4
1 changed files with 36 additions and 3 deletions
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test/mavsdk_tests/test_mission_plane.cpp
+36 -3
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@@ -1,7 +1,7 @@
// //
// Multicopter mission test. // Plane mission test.
// //
// Author: Julian Oes <julian@oes.ch> // Author: Lorenz Meier <lorenz@px4.io>, Julian Oes <julian@oes.ch>
#include <mavsdk/mavsdk.h> #include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h> #include <mavsdk/plugins/action/action.h>
@@ -11,7 +11,7 @@
#include "autopilot_tester.h" #include "autopilot_tester.h"
TEST_CASE("Takeoff and land (Plane)", "[plane]") TEST_CASE("Takeoff and land (plane)", "[plane]")
{ {
AutopilotTester tester; AutopilotTester tester;
tester.connect(connection_url); tester.connect(connection_url);
@@ -22,3 +22,36 @@ TEST_CASE("Takeoff and land (Plane)", "[plane]")
tester.land(); tester.land();
tester.wait_until_disarmed(); tester.wait_until_disarmed();
} }
// TODO: Add land pattern
// TEST_CASE("Fly square missions (plane)", "[plane]")
// {
// AutopilotTester tester;
// tester.connect(connection_url);
// tester.wait_until_ready();
// SECTION("Mission including RTL (plane)") {
// AutopilotTester::MissionOptions mission_options;
// mission_options.leg_length_m = 250.0;
// mission_options.relative_altitude_m = 40.0;
// mission_options.rtl_at_end = true;
// tester.prepare_square_mission(mission_options);
// tester.arm();
// tester.execute_mission();
// tester.wait_until_disarmed();
// }
// SECTION("Mission with manual RTL (plane)") {
// AutopilotTester::MissionOptions mission_options;
// mission_options.leg_length_m = 250.0;
// mission_options.relative_altitude_m = 40.0;
// mission_options.rtl_at_end = false;
// tester.prepare_square_mission(mission_options);
// tester.arm();
// tester.execute_mission();
// tester.wait_until_hovering();
// tester.execute_rtl();
// tester.wait_until_disarmed();
// }
// }