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#include "autopilot_tester.h"


TEST_CASE("Fly forward in position control", "[multicopter][vtol]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	tester.arm();
	tester.fly_forward_in_posctl();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(90);
	tester.wait_until_disarmed(until_disarmed_timeout);
	tester.check_home_not_within(5.f);
}

TEST_CASE("Fly forward in altitude control", "[multicopter][vtol]")
{
	AutopilotTester tester;
	tester.connect(connection_url);
	tester.wait_until_ready();
	tester.store_home();
	tester.arm();
	tester.fly_forward_in_altctl();
	std::chrono::seconds until_disarmed_timeout = std::chrono::seconds(90);
	tester.wait_until_disarmed(until_disarmed_timeout);
	tester.check_home_not_within(5.f);
}
