SIM001 › The ground station › Ground control station › Flying a mission

The end of a mission

After the last item, a plane flies home in RTL. But if the mission ends with a loiter or a landing, the plane does that. A copter circles at the last waypoint, and a rover stays where it is.

Each waypoint reached moves the mission on

If the plane is flying the mission and the plane reaches a waypoint, the next item becomes the current item, which is magenta on the map.

Screenshot to come: the tests cannot do this step yet.

See it in Flying the circuit and coming home, Flying the circuit again.

How this is tested not supported yet

Given the plane is flying the mission
When the plane reaches a waypoint
Then the vehicle's current item goes up by 1

Follows: the section's setup
Tested by: Flying the circuit and coming home › Three waypoints, then home not supported yet, Flying the circuit again › Back to the first waypoint not supported yet

After the last waypoint the plane flies home

If the plane is flying the mission, the last plan item is WAYPOINT and the vehicle mission is up to date and the plane reaches the last item, the RTL button lights up. The plane turns for home.

Screenshot to come: the tests cannot do this step yet.

See it in Flying the circuit and coming home.

How this is tested not supported yet

Given the plane is flying the mission
  And the last plan item is WAYPOINT
  And the vehicle mission is up to date
When the plane reaches the last item
Then the autopilot mode is RTL
  And the plane is flying home

Follows: the section's setup
Leads to: Disarming outside AUTO restarts the mission
Tested by: Flying the circuit and coming home › Three waypoints, then home not supported yet, Reaching «Disarming outside AUTO restarts the mission» not supported yet

A mission that ends with a loiter keeps circling

If the plane is flying the mission, the last plan item is LOITER_UNLIM or LOITER_TURNS and the vehicle mission is up to date and the plane reaches the last item, the AUTO button lights up. The plane circles the last item.

Screenshot to come: the tests cannot do this step yet.

How this is tested not supported yet

Given the plane is flying the mission
  And the last plan item is LOITER_UNLIM or LOITER_TURNS
  And the vehicle mission is up to date
When the plane reaches the last item
Then the autopilot mode is AUTO
  And the plane is loitering

Follows: Changing a command keeps the item in its place
Tested by: Reaching «A mission that ends with a loiter keeps circling» not supported yet

A mission that ends with a landing lands

If the plane is flying the mission, the last plan item is LAND and the vehicle mission is up to date and the plane reaches the last item, the plane lands and stops on the ground.

Screenshot to come: the tests cannot do this step yet.

How this is tested not supported yet

Given the plane is flying the mission
  And the last plan item is LAND
  And the vehicle mission is up to date
When the plane reaches the last item
Then the plane is on the ground

Follows: UPLOAD writes the plan to the vehicle, EDIT brings the vehicle's mission back into the plan
Tested by: Reaching «A mission that ends with a landing lands» not supported yet

A mission that ends with RTL flies home in AUTO

If the plane is flying the mission, the last plan item is RTL and the vehicle mission is up to date and the plane reaches the last item, the AUTO button lights up. The plane turns for home.

Screenshot to come: the tests cannot do this step yet.

How this is tested not supported yet

Given the plane is flying the mission
  And the last plan item is RTL
  And the vehicle mission is up to date
When the plane reaches the last item
Then the autopilot mode is AUTO
  And the plane is flying home

Follows: +RTL ends the plan with a return
Tested by: Reaching «A mission that ends with RTL flies home in AUTO» not supported yet