/****************************************************************************
 *
 *   Copyright (c) 2021 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 <thread>
#include <chrono>
#include <math.h>

#include "autopilot_tester.h"

TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
{
	const float takeoff_altitude = 10.f;
	const float altitude_tolerance = 0.2f;
	const int delay_seconds = 60.f;

	AutopilotTester tester;
	tester.connect(connection_url);
	tester.wait_until_ready();

	tester.set_takeoff_altitude(takeoff_altitude);
	tester.store_home();
	// The sleep here is necessary for the takeoff altitude to be applied properly
	std::this_thread::sleep_for(std::chrono::seconds(1));

	// Takeoff
	tester.arm();
	tester.takeoff();
	tester.wait_until_hovering();
	tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30), altitude_tolerance);

	// Monitor altitude and fail if it exceeds the tolerance
	tester.start_checking_altitude(altitude_tolerance + 0.1);

	std::this_thread::sleep_for(std::chrono::seconds(delay_seconds));
}