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Add straight-line MAVSDK test

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This commit is contained in:
Julian Kent
2020-07-14 11:34:14 +02:00
committed by Julian Kent
parent 624d8a58e9
commit db361d7a59
3 changed files with 59 additions and 0 deletions
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test/mavsdk_tests/test_multicopter_mission.cpp
+19
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@@ -78,3 +78,22 @@ TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]")
tester.wait_until_disarmed();
}
}
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, 4.5);
tester.arm();
tester.execute_mission();
tester.wait_until_hovering();
tester.execute_rtl();
tester.wait_until_disarmed();
}