Planning a hand-launched circuit › Takeoff, three waypoints, home passed

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From the setup of Planning a mission.

Given the game clock is off
  And the link is connected
  And the vehicle is disarmed
  And the autopilot mode is MANUAL
  And the map tool is PLAN
  And the plan has 0 items
  And the plan altitude is 40 m
  And the last plan item is none
  And the takeoff is not planned
  And the vehicle mission is empty
  And the home position is set
  And the waypoints are unchecked
  And the mission file is missing
  And the measured distance is hidden
  And the vehicle's current item is 0
  And the plane is on the ground

• Every arranged state read back as arranged (16)

1 When the operator adds a takeoff

When the operator adds a takeoff
Then the plan has 1 item
  And the takeoff is planned

Expected behaviour: +TKOF puts a takeoff first, On an empty plan the takeoff is also the last item.

• the plan has 1 item · +TKOF puts a takeoff first
• the takeoff is planned · +TKOF puts a takeoff first
• the last plan item is TAKEOFF · On an empty plan the takeoff is also the last item

2 When the operator clicks the map

When the operator clicks the map

Expected behaviour: A click adds a waypoint.

• the plan has 2 items · A click adds a waypoint
• the last plan item is WAYPOINT · A click adds a waypoint
• the newest waypoint is at the plan altitude · A click adds a waypoint

3 When the operator clicks the map

When the operator clicks the map

Expected behaviour: A click adds a waypoint.

• the plan has 3 items · A click adds a waypoint
• the last plan item is WAYPOINT · A click adds a waypoint
• the newest waypoint is at the plan altitude · A click adds a waypoint

4 When the operator clicks the map

When the operator clicks the map
Then the plan has 4 items

Expected behaviour: A click adds a waypoint.

• the plan has 4 items · A click adds a waypoint
• the last plan item is WAYPOINT · A click adds a waypoint
• the newest waypoint is at the plan altitude · A click adds a waypoint

5 When the operator adds a return home

When the operator adds a return home
Then the last plan item is RTL

Expected behaviour: +RTL ends the plan with a return.

• the plan has 5 items · +RTL ends the plan with a return
• the last plan item is RTL · +RTL ends the plan with a return

6 When the operator uploads the plan

When the operator uploads the plan
Then the vehicle mission is up to date

Expected behaviour: UPLOAD writes the plan to the vehicle.

• the map tool is pan · UPLOAD writes the plan to the vehicle
• the vehicle mission is up to date · UPLOAD writes the plan to the vehicle