  Flight-time failures of small Uncrewed Aerial Systems (sUAS) can have a
severe impact on people or the environment. Therefore, sUAS applications must
be thoroughly evaluated and tested to ensure their adherence to specified
requirements, and safe behavior under real-world conditions, such as poor
weather, wireless interference, and satellite failure. However, current
simulation environments for autonomous vehicles, including sUAS, provide
limited support for validating their behavior in diverse environmental contexts
and moreover, lack a test harness to facilitate structured testing based on
system-level requirements. We address these shortcomings by eliciting and
specifying requirements for an sUAS testing and simulation platform, and
developing and deploying it. The constructed platform, DroneReqValidator (DRV),
allows sUAS developers to define the operating context, configure multi-sUAS
mission requirements, specify safety properties, and deploy their own custom
sUAS applications in a high-fidelity 3D environment. The DRV Monitoring system
collects runtime data from sUAS and the environment, analyzes compliance with
safety properties, and captures violations. We report on two case studies in
which we used our platform prior to real-world sUAS deployments, in order to
evaluate sUAS mission behavior in various environmental contexts. Furthermore,
we conducted a study with developers and found that DRV simplifies the process
of specifying requirements-driven test scenarios and analyzing acceptance test
results
