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

Altitude

New waypoints go at the plan altitude, which shows between ALT- and ALT+. These buttons change it in steps of 10 m, from 10 m to 300 m. All altitudes are relative to home. A change to the plan altitude does not move the waypoints that are already in the plan.

Over hills, compare the plan with the terrain. The planner compares each waypoint with the ground below it, in the height map of the sim. It raises each waypoint that is too low. Mission Planner calls this Verify height.

ALT+ raises the plan altitude

If the plan altitude is below 300 m, press ALT+. The plan altitude between ALT- and ALT+ goes up by 10 m.

See it in Clearing the ridge, Planning at the altitude limit.

How this is tested verified

Given the plan altitude is below 300 m
When the operator raises the plan altitude
Then the plan altitude goes up by 10 m

Follows: the section's setup
Leads to: ALT+ stops at 300 m
Tested by: Clearing the ridge › Raise the plan, add a waypoint, check it not supported yet, Planning at the altitude limit › ALT+ from 290 m passed, Reaching «Waypoints already planned keep their altitude» passed

ALT+ stops at 300 m

If the plan altitude is 300 m, press ALT+. The plan altitude between ALT- and ALT+ does not change.

See it in Planning at the altitude limit.

How this is tested verified

Given the plan altitude is 300 m
When the operator raises the plan altitude
Then the plan altitude stays the same

Follows: ALT+ raises the plan altitude
Tested by: Planning at the altitude limit › ALT+ from 290 m passed

ALT- lowers the plan altitude

If the plan altitude is above 10 m, press ALT-. The plan altitude between ALT- and ALT+ goes down by 10 m.

How this is tested verified

Given the plan altitude is above 10 m
When the operator lowers the plan altitude
Then the plan altitude goes down by 10 m

Follows: the section's setup
Leads to: ALT- stops at 10 m
Tested by: Reaching «ALT- lowers the plan altitude» passed, Reaching «ALT- stops at 10 m» passed

ALT- stops at 10 m

If the plan altitude is 10 m, press ALT-. The plan altitude between ALT- and ALT+ does not change.

How this is tested verified

Given the plan altitude is 10 m
When the operator lowers the plan altitude
Then the plan altitude stays the same

Follows: ALT- lowers the plan altitude
Tested by: Reaching «ALT- stops at 10 m» passed

Waypoints already planned keep their altitude

If the plan has at least 1 item, the newest waypoint is at the plan altitude and the plan altitude is below 300 m, press ALT+. The waypoints that are already in the plan keep their altitude.

How this is tested verified

Given the plan has at least 1 item
  And the newest waypoint is at the plan altitude
  And the plan altitude is below 300 m
When the operator raises the plan altitude
Then the newest waypoint is at another altitude

Follows: the section's setup
Tested by: Reaching «Waypoints already planned keep their altitude» passed

A height check raises waypoints above the terrain

If the plan has at least 1 item, check the heights against the terrain. Each waypoint is above the ground below it.

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

See it in Clearing the ridge.

How this is tested not supported yet

Given the plan has at least 1 item
When the operator checks the heights against the terrain
Then the waypoints are clear of the terrain

Follows: the section's setup
Leads to: A new waypoint needs a new height check
Tested by: Clearing the ridge › Raise the plan, add a waypoint, check it not supported yet, Reaching «A new waypoint needs a new height check» not supported yet

A new waypoint needs a new height check

If the waypoints are clear of the terrain and the map tool is PLAN, click the map. The waypoints are unchecked.

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

How this is tested not supported yet

Given the waypoints are clear of the terrain
  And the map tool is PLAN
When the operator clicks the map
Then the waypoints are unchecked

Follows: A height check raises waypoints above the terrain
Tested by: Reaching «A new waypoint needs a new height check» not supported yet