text: /****************************************************************************
   *
   *   Copyright (c) 2020 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 <mavsdk/mavsdk.h>
  #include <mavsdk/plugins/action/action.h>
  #include <mavsdk/plugins/telemetry/telemetry.h>
  #include <iostream>
  #include <string>
  #include "autopilot_tester.h"
  
  
  TEST_CASE("Offboard takeoff and land", "[multicopter][offboard][nogps]")
  {
  	AutopilotTester tester;
  	Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
  	tester.connect(connection_url);
  	tester.wait_until_ready_local_position_only();
  	tester.store_home();
  	tester.arm();
  	std::chrono::seconds goto_timeout = std::chrono::seconds(20);
  	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
  	tester.offboard_land();
  	tester.wait_until_disarmed(goto_timeout);
  	tester.check_home_within(1.0f);
  }
  
  TEST_CASE("Offboard position control", "[multicopter][offboard][nogps]")
  {
  	AutopilotTester tester;
  	Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
  	Offboard::PositionNEDYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
  	Offboard::PositionNEDYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
  	Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
  	tester.connect(connection_url);
  	tester.wait_until_ready_local_position_only();
  	tester.store_home();
  	tester.arm();
  	std::chrono::seconds goto_timeout = std::chrono::seconds(20);
  	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
  	tester.offboard_goto(setpoint_1, 0.1f, goto_timeout);
  	tester.offboard_goto(setpoint_2, 0.1f, goto_timeout);
  	tester.offboard_goto(setpoint_3, 0.1f, goto_timeout);
  	tester.offboard_goto(takeoff_position, 0.1f, goto_timeout);
  	tester.offboard_land();
  	tester.wait_until_disarmed(goto_timeout);
  	tester.check_home_within(1.0f);
  }
  