Created the task 2 flight test file

Hard coded drone path with ~5m offset

src/flight_tests/task2_ft.py

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+import time
+
+from dronekit import connect, VehicleMode, LocationGlobal
+
+from src.modules.autopilot import navigator
+from src.modules.autopilot import lander
+
+CONN_STR = "udp:127.0.0.1:14551"
+MESSENGER_PORT = 14552
+
+drone = connect(CONN_STR, wait_ready=False)
+
+nav = navigator.Navigator(drone, MESSENGER_PORT)
+lander = lander.Lander()
+
+nav.send_status_message("Shepard is online")
+
+while not (drone.armed and drone.mode == VehicleMode("GUIDED")):
+    pass
+
+nav.send_status_message("Executing mission")
+time.sleep(2)
+
+nav.takeoff(10)
+#drone.groundspeed = 2  # m/s
+# start_coords = drone.location.global_relative_frame
+time.sleep(2)
+
+MAX_GROUND_SPEED = 20
+TIME = 180  #3 minutes
+ALTITUDE = 15
+WAY_POINT1 = [53.496500, -113.551900]
+WAY_POINT2 = [53.497400, -113.551900]
+#WAY_POINT3 = [53.496588, -113.548689]
+
+#Hard coded position which is 5m away from the waypoint
+
+MOVE_MARK1 = [53.496450, -113.551850]
+MOVE_MARK2 = [53.497450, -113.551850]
+
+waypoint1_location_global = LocationGlobal(WAY_POINT1[0], WAY_POINT1[1], ALTITUDE)
+waypoint2_location_global = LocationGlobal(WAY_POINT2[0], WAY_POINT2[1], ALTITUDE)
+waypoint3_location_global = LocationGlobal(WAY_POINT3[0], WAY_POINT3[1], ALTITUDE)
+
+
+movemark1_location_global = LocationGlobal(MOVE_MARK1[0], MOVE_MARK1[1], ALTITUDE)
+movemark2_location_global = LocationGlobal(MOVE_MARK2[0], MOVE_MARK2[1], ALTITUDE)
+
+
+
+speed = nav.optimum_speed(TIME,[location_global1,location_global2,location_global3])
+
+#checking to ensure ground speed is safe
+assert speed > 0
+assert speed < MAX_GROUND_SPEED
+
+#drone.groundspeed = speed
+#nav.send_status_message(f"Ground speed set to {speed} m/s")
+
+# workaround to get the speed to set properly for the actual waypoints
+nav.set_position_relative(0, 0)
+
+time.sleep(1)
+nav.set_speed(speed)
+time.sleep(1)
+
+
+# Predecided number of laps for the drone to complete (This will later be adjusted based on battery consumption)
+
+laps = 2
+
+for i in range(laps)
+    nav.send_status_message("Moving Around Waypoint 1")
+    nav.set_altitude_position(movemark1_location_global.lat,movemark1_location_global.lon,movemark1_location_global.alt)
+    nav.set_altitude_position_relative(-5, 5, ALTITUDE)
+    nav.set_altitude_position_relative(5, 5, ALTITUDE)
+
+
+    nav.send_status_message("Moving Around Waypoint 2")
+    nav.set_altitude_position(movemark2_location_global.lat,movemark2_location_global.lon,movemark2_location_global.alt)
+    nav.set_altitude_position_relative(5, -5, ALTITUDE)
+    nav.set_altitude_position_relative(-5, -5, ALTITUDE)
+
+    nav.send_status_message("Completed Lap " + str(i) + "out of " + str(i) + " laps")
+
+
+nav.return_to_launch()
+
+drone.close()
+
+nav.send_status_message("Flight test script execution terminated")