mavsdk_tests: add multicopter alt hold test

Author: dakejahl

test/mavsdk_tests/CMakeLists.txt

@@ -22,6 +22,7 @@ if(MAVSDK_FOUND)
         # follow-me needs a MAVSDK update:
         # https://github.com/mavlink/MAVSDK/pull/1770
         # autopilot_tester_follow_me.cpp
+        test_multicopter_basics.cpp
         test_multicopter_control_allocation.cpp
         test_multicopter_failure_injection.cpp
         test_multicopter_failsafe.cpp

test/mavsdk_tests/test_multicopter_basics.cpp

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   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>
+
+TEST_CASE("Altitude Hold", "[multicopter_basics]")
+{
+	const float takeoff_altitude = 10.0f;
+	const float altitude_tolerance = 0.5f;
+
+	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));
+
+	// Monitor altitude and fail if it exceeds the tolerance
+	tester.start_checking_altitude(altitude_tolerance);
+
+	std::this_thread::sleep_for(std::chrono::seconds(30));
+}