From 480e67fcd46b8da704880950f0224293cd95beca Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sat, 25 Jan 2020 16:03:13 +0100
Subject: [PATCH] Plane tester: Complement test Prepare wider plane test.

---
 test/mavsdk_tests/test_mission_plane.cpp | 39 ++++++++++++++++++++++--
 1 file changed, 36 insertions(+), 3 deletions(-)

diff --git a/test/mavsdk_tests/test_mission_plane.cpp b/test/mavsdk_tests/test_mission_plane.cpp
index a683eab1bb..ee23c553f9 100644
--- a/test/mavsdk_tests/test_mission_plane.cpp
+++ b/test/mavsdk_tests/test_mission_plane.cpp
@@ -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/plugins/action/action.h>
@@ -11,7 +11,7 @@
 #include "autopilot_tester.h"
 
 
-TEST_CASE("Takeoff and land (Plane)", "[plane]")
+TEST_CASE("Takeoff and land (plane)", "[plane]")
 {
     AutopilotTester tester;
     tester.connect(connection_url);
@@ -22,3 +22,36 @@ TEST_CASE("Takeoff and land (Plane)", "[plane]")
     tester.land();
     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();
+//     }
+// }