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Julian Oes
39 lines
937 B
C++
39 lines
937 B
C++
//
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// Multicopter mission test.
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//
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// Author: Julian Oes <julian@oes.ch>
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#include <mavsdk/mavsdk.h>
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#include <mavsdk/plugins/action/action.h>
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#include <mavsdk/plugins/telemetry/telemetry.h>
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#include <iostream>
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#include <string>
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#include "autopilot_tester.h"
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TEST_CASE("We can takeoff and land", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.arm();
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tester.takeoff();
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tester.wait_until_hovering();
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tester.land();
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tester.wait_until_disarmed();
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}
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TEST_CASE("We can fly a square mission and do RTL", "[multicopter]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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AutopilotTester::MissionOptions mission_options;
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mission_options.rtl_at_end = true;
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tester.prepare_square_mission(mission_options);
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tester.arm();
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tester.execute_mission();
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tester.wait_until_disarmed();
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} |