SIM001 › Beyond the cockpit › Flying by plan

Letting a plan run out › Let a plan run out passed

As an operator of a plane in AGENT mode, I want the plane to stay safe when the plans stop, so that a lost link does not send the plane away.

The test behind the tutorial Letting a plan run out: every step it takes, what it checks and what it saw.

Start

From the setup of Flying by plan.

Everything it starts with

Given the flight mode of the plane is AGENT
  And the reply to the plan is none
  And the time to live of the plan is 0 s
  And the reported plan is 0
  And the reported primitive is none

Every arranged state read back as arranged (5)

1 When the ground sends a short go-to plan

When the ground sends a short go-to plan
Then the reply to the plan is accepted

Expected behaviour: AGENT mode takes a short plan.

the reply to the plan is accepted · AGENT mode takes a short plan
the time to live of the plan is 5 s · AGENT mode takes a short plan
the reported plan is 1 · AGENT mode takes a short plan
the reported primitive is go to · AGENT mode takes a short plan

2 When the plane flies on for 10 seconds

When the plane flies on for 10 seconds
Then the reported fallback is plan expired

Expected behaviour: A plan that runs out makes the plane circle.

the reported fallback is plan expired · A plan that runs out makes the plane circle

3 When the ground sends a go-to plan

When the ground sends a go-to plan
Then the reported fallback is none or recovery
  And the reported plan is 2

Expected behaviour: AGENT mode takes a go-to plan, A new plan ends the circle.

the reply to the plan is accepted · AGENT mode takes a go-to plan
the time to live of the plan is 600 s · AGENT mode takes a go-to plan
the reported plan is 2 · AGENT mode takes a go-to plan
the reported primitive is go to · AGENT mode takes a go-to plan
the reported fallback is none or recovery · A new plan ends the circle