From b0cb29ed824a41c924e7adce2f150b55d6a98292 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Thu, 2 Jan 2020 11:24:14 +0100
Subject: [PATCH] MAVSDK tests: Add minimal plane example This will add
 coverage for baseline plane controllers.

---
 test/mavsdk_tests/CMakeLists.txt              |  1 +
 test/mavsdk_tests/mavsdk_test_runner.py       |  9 +++++--
 .../mavsdk_tests/test_mission_multicopter.cpp |  4 ++--
 test/mavsdk_tests/test_mission_plane.cpp      | 24 +++++++++++++++++++
 4 files changed, 34 insertions(+), 4 deletions(-)
 create mode 100644 test/mavsdk_tests/test_mission_plane.cpp

diff --git a/test/mavsdk_tests/CMakeLists.txt b/test/mavsdk_tests/CMakeLists.txt
index 695cae2ed4..0476682b58 100644
--- a/test/mavsdk_tests/CMakeLists.txt
+++ b/test/mavsdk_tests/CMakeLists.txt
@@ -13,6 +13,7 @@ if(MAVSDK_FOUND)
         test_main.cpp
         autopilot_tester.cpp
         test_mission_multicopter.cpp
+        test_mission_plane.cpp
     )
 
     target_link_libraries(mavsdk_tests
diff --git a/test/mavsdk_tests/mavsdk_test_runner.py b/test/mavsdk_tests/mavsdk_test_runner.py
index 9478273016..ef14c755f8 100755
--- a/test/mavsdk_tests/mavsdk_test_runner.py
+++ b/test/mavsdk_tests/mavsdk_test_runner.py
@@ -14,12 +14,17 @@ test_matrix = [
     {
         "model": "iris",
         "test_filter": "[multicopter]",
-        "timeout_min": 10,
+        "timeout_min": 20,
     },
     {
         "model": "standard_vtol",
         "test_filter": "[vtol]",
-        "timeout_min": 10,
+        "timeout_min": 20,
+    },
+    {
+        "model": "standard_plane",
+        "test_filter": "[plane]",
+        "timeout_min": 25,
     }
 ]
 
diff --git a/test/mavsdk_tests/test_mission_multicopter.cpp b/test/mavsdk_tests/test_mission_multicopter.cpp
index 8f37db0e82..82b1a57a6f 100644
--- a/test/mavsdk_tests/test_mission_multicopter.cpp
+++ b/test/mavsdk_tests/test_mission_multicopter.cpp
@@ -11,7 +11,7 @@
 #include "autopilot_tester.h"
 
 
-TEST_CASE("Takeoff and land", "[multicopter][vtol]")
+TEST_CASE("Takeoff and Land (Multicopter)", "[multicopter][vtol]")
 {
     AutopilotTester tester;
     tester.connect(connection_url);
@@ -23,7 +23,7 @@ TEST_CASE("Takeoff and land", "[multicopter][vtol]")
     tester.wait_until_disarmed();
 }
 
-TEST_CASE("Fly square missions", "[multicopter][vtol]")
+TEST_CASE("Fly square Multicopter Missions", "[multicopter][vtol]")
 {
     AutopilotTester tester;
     tester.connect(connection_url);
diff --git a/test/mavsdk_tests/test_mission_plane.cpp b/test/mavsdk_tests/test_mission_plane.cpp
new file mode 100644
index 0000000000..a683eab1bb
--- /dev/null
+++ b/test/mavsdk_tests/test_mission_plane.cpp
@@ -0,0 +1,24 @@
+//
+// Multicopter mission test.
+//
+// Author: Julian Oes <julian@oes.ch>
+
+#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("Takeoff and land (Plane)", "[plane]")
+{
+    AutopilotTester tester;
+    tester.connect(connection_url);
+    tester.wait_until_ready();
+    tester.arm();
+    tester.takeoff();
+    tester.wait_until_hovering();
+    tester.land();
+    tester.wait_until_disarmed();
+}