SIM001

SIM001 › Beyond the cockpit › Flying by plan

Sending your first plan

You send a go-to plan from the console of the runner. The plane refuses it in FBWA, and it takes it in AGENT mode. Then you send a plan with an error, and a new plan. The reply and the status of the plane tell you what the plane does with each one.

  1. Type plan goto 80 10 40 0 600 in the console. This plan tells the plane to fly to the point 80 m north and 10 m east of home, at 40 m.

    The plane replies with COMMAND_ACK, result 2 (DENIED) and the reason 1. The console shows ack with result=2 reason=1.

    The plane replies with COMMAND_ACK, result 2 (DENIED) and the reason 1. The console shows ack with result=2 reason=1.

  2. Switch the plane to AGENT: type mode AGENT in the console.

    AG_PLAN is 0, and the console shows plan=0.

    AG_PLAN is 0, and the console shows plan=0.

  3. Type plan goto 80 10 40 0 600 in the console. This plan tells the plane to fly to the point 80 m north and 10 m east of home, at 40 m.

    The plane replies with COMMAND_ACK, result 0 (ACCEPTED). The console shows ack with result=0. AG_PLAN is 1, and the console shows plan=1. AG_PRIM is 3, go to (prim=3).

    The plane replies with COMMAND_ACK, result 0 (ACCEPTED). The console shows ack with result=0. AG_PLAN is 1, and the console shows plan=1. AG_PRIM is 3, go to (prim=3).

  4. Type plan 9 80 10 40 0 600 in the console. There is no primitive 9.

    The plane replies with COMMAND_ACK, result 2 (DENIED) and the reason 2. The console shows ack with result=2 reason=2. AG_PLAN is 1, and the console shows plan=1.

    The plane replies with COMMAND_ACK, result 2 (DENIED) and the reason 2. The console shows ack with result=2 reason=2. AG_PLAN is 1, and the console shows plan=1.

  5. Type plan orbit 70 0 45 45 600 in the console. This plan tells the plane to circle the arena centre at 45 m from it, at 45 m.

    AG_PLAN is 2, and the console shows plan=2. AG_PRIM is 4, orbit (prim=4).

    AG_PLAN is 2, and the console shows plan=2. AG_PRIM is 4, orbit (prim=4).

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How this is tested passed

This tutorial is also an acceptance test. Its report has every step, check and screenshot from the last run.

The user story: As an operator of a plane in AGENT mode, I want to send a plan and read the reply, so that I know that the plane flies my plan.

Given the flight mode of the plane is FBWA
When the ground sends a go-to plan
Then the reply to the plan is refused for the mode
When the flight mode of the plane is AGENT
Then the reported plan is 0
When the ground sends a go-to plan
Then the reply to the plan is accepted
  And the reported plan is 1
  And the reported primitive is go to
When the ground sends a malformed plan
Then the reply to the plan is refused as malformed
  And the reported plan is 1
When the ground sends an orbit plan
Then the reported plan is 2
  And the reported primitive is orbit