SIM001 › Beyond the cockpit › Flying by plan
Watching a game of tag by plan › Play and watch passed
As a developer of a ground control agent, I want to watch the scripted agent play tag with three real ArduPilot planes, so that I have a baseline for my own agent.
The test behind the tutorial Watching a game of tag by plan: 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 planes play a game of tag
When the planes play a game of tag Then the planes in AGENT mode are 3 And the refused commands are 0 And the reports of the hand-overs are complete
Expected behaviour: A plane that is not it never pursues, Every plane plays in AGENT mode and accepts every command, Each new plane that is it is reported.
- the pursue plans for the planes not it are 0 · A plane that is not it never pursues
- the planes in AGENT mode are 3 · Every plane plays in AGENT mode and accepts every command
- the refused commands are 0 · Every plane plays in AGENT mode and accepts every command
- the reports of the hand-overs are complete · Each new plane that is it is reported
2 When the ground sends a go-to plan
When the ground sends a go-to plan Then the reply to the plan is accepted
Expected behaviour: AGENT mode takes a go-to plan.
- 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 1 · AGENT mode takes a go-to plan
- the reported primitive is go to · AGENT mode takes a go-to plan
3 When the operator watches the status for 10 seconds
When the operator watches the status for 10 seconds Then the status reports in 10 seconds are between 9 and 11
Expected behaviour: The plane reports its plan once a second.
- the status reports in 10 seconds are between 9 and 11 · The plane reports its plan once a second