SIM001

SIM001 › Beyond the cockpit › Flying by plan

Watching a game of tag by plan

The runner starts three ArduPlane SITL planes and plays a game of tag with them. The scripted ground control agent flies every plane by plan in AGENT mode. After the game, you send a plan of your own to the first plane, and you watch its status.

  1. Scroll up to the report just above console ready.

    The report of the runner says RESULT in_agent=3. All three planes played in AGENT mode. The report of the runner says RESULT refused=0. The planes accepted every plan, every game command and every mode change. For each new plane that is it, the runner printed a line. The line says who tagged whom, or who left the arena.

    The report of the runner says RESULT in_agent=3. All three planes played in AGENT mode. The report of the runner says RESULT refused=0. The planes accepted every plan, every game command and every mode change. For each new plane that is it, the runner printed a line. The line says who tagged whom, or who left the arena.

  2. 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.

    The plane replies with COMMAND_ACK, result 0 (ACCEPTED). The console shows ack with result=0.

  3. Type watch 10 in the console. The console counts the AG_PLAN messages in the next 10 s of simulated time.

    The console shows reports 10, or 9 or 11: the status comes once a second.

    The console shows reports 10, or 9 or 11: the status comes once a second.

Learn more

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 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.

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
When the ground sends a go-to plan
Then the reply to the plan is accepted
When the operator watches the status for 10 seconds
Then the status reports in 10 seconds are between 9 and 11