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CI: remove old mission formats

This commit is contained in:
Anthony Lamping 2018-02-27 22:52:40 -05:00 committed by Daniel Agar
parent e9c7023083
commit 4158b5e6a9
7 changed files with 4 additions and 191 deletions
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44
integrationtests/python_src/px4_it/mavros/mission_test.py
View File

@ -50,7 +50,6 @@ import os
import px4tools
import sys
from mavros import mavlink
from mavros.mission import QGroundControlWP
from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached
from mavros_test_common import MavrosTestCommon
from pymavlink import mavutil
@ -71,26 +70,12 @@ def get_last_log():
def read_mission(mission_filename):
wps = []
with open(mission_filename, 'r') as f:
mission_filename_ext = os.path.splitext(mission_filename)[1]
if mission_filename_ext == '.plan':
for waypoint in read_plan_file(f):
wps.append(waypoint)
rospy.logdebug(waypoint)
elif mission_filename_ext == '.mission':
for waypoint in read_mission_file(f):
wps.append(waypoint)
rospy.logdebug(waypoint)
elif mission_filename_ext == '.txt':
mission = QGroundControlWP()
for waypoint in mission.read(f):
wps.append(waypoint)
rospy.logdebug(waypoint)
else:
raise IOError("unknown mission file extension",
mission_filename_ext)
for waypoint in read_plan_file(f):
wps.append(waypoint)
rospy.logdebug(waypoint)
# set first item to current
if wps[0]:
if wps:
wps[0].is_current = True
return wps
@ -122,27 +107,6 @@ def read_plan_file(f):
else:
raise IOError("no mission items")
def read_mission_file(f):
d = json.load(f)
if 'items' in d:
for wp in d['items']:
yield Waypoint(
is_current=False,
frame=int(wp['frame']),
command=int(wp['command']),
param1=float(wp['param1']),
param2=float(wp['param2']),
param3=float(wp['param3']),
param4=float(wp['param4']),
x_lat=float(wp['coordinate'][0]),
y_long=float(wp['coordinate'][1]),
z_alt=float(wp['coordinate'][2]),
autocontinue=bool(wp['autoContinue']))
else:
raise IOError("no mission items")
class MavrosMissionTest(MavrosTestCommon):
"""
Run a mission

121
integrationtests/python_src/px4_it/mavros/multirotor_box.mission
View File

@ -1,121 +0,0 @@
{
"MAV_AUTOPILOT": 12,
"complexItems": [
],
"groundStation": "QGroundControl",
"items": [
{
"autoContinue": true,
"command": 22,
"coordinate": [
47.397739410400391,
8.5455904006958008,
5
],
"frame": 3,
"id": 1,
"param1": 15,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
{
"autoContinue": true,
"command": 16,
"coordinate": [
47.397872924804688,
8.54559326171875,
5
],
"frame": 3,
"id": 2,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
{
"autoContinue": true,
"command": 16,
"coordinate": [
47.397872924804688,
8.5453414916992188,
5
],
"frame": 3,
"id": 3,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
{
"autoContinue": true,
"command": 16,
"coordinate": [
47.397739410400391,
8.5453367233276367,
5
],
"frame": 3,
"id": 4,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
{
"autoContinue": true,
"command": 16,
"coordinate": [
47.397739410400391,
8.5455904006958008,
5
],
"frame": 3,
"id": 5,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
{
"autoContinue": true,
"command": 21,
"coordinate": [
47.397739410400391,
8.5455913543701172,
5
],
"frame": 3,
"id": 6,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
}
],
"plannedHomePosition": {
"autoContinue": true,
"command": 16,
"coordinate": [
47.397806167602539,
8.5454649925231934,
0
],
"frame": 0,
"id": 0,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
"version": "1.0"
}

4
integrationtests/python_src/px4_it/mavros/vtol_new_1.txt
View File

@ -1,4 +0,0 @@
# New style transitions, takeoff not at home
QGC WPL 110
0 1 3 84 15.0 0 0 0 47.397731862593744 8.543269295853861 15.0 1
1 0 3 85 0.0 0.0 -0.0 0.0 47.39651890962795 8.5433217125134888 0.0 1

5
integrationtests/python_src/px4_it/mavros/vtol_new_2.txt
View File

@ -1,5 +0,0 @@
# New style transitions, takeoff at home
QGC WPL 110
0 1 3 84 15.0 0 0 0 47.397746387399621 8.5455920888607579 12.0 1
1 0 3 16 0.0 0.0 0.0 0.0 47.399093548895856 8.5455438069836305 12.0 1
2 0 3 85 0.0 0.0 -0.0 0.0 47.39903545 8.5432263800000001 0.0 1

8
integrationtests/python_src/px4_it/mavros/vtol_old_1.txt
View File

@ -1,8 +0,0 @@
# Old style transitions, takeoff and landing WPs away from home and last WP
QGC WPL 110
0 1 3 22 15.0 0 0 0 47.398046406687619 8.5458366721115908 12.0 1
1 0 2 3000 4 0.0 0.0 0.0 47.398033142089844 8.5457897186279297 12.0 1
2 0 3 16 0 0.0 0.0 0.0 47.399269104003906 8.5455722808837891 12.0 1
3 0 3 16 0 0.0 0.0 0.0 47.399281145681528 8.547910568913295 12.0 1
4 0 2 3000 3 0.0 0.0 0.0 47.397785186767578 8.545262336730957 12.0 1
5 0 3 21 25.0 0.0 0.0 0.0 47.398884865088675 8.547918116539563 12.0 1

8
integrationtests/python_src/px4_it/mavros/vtol_old_2.txt
View File

@ -1,8 +0,0 @@
# Old style transitions, takeoff WP at home location, landing WP at last WP location
QGC WPL 110
0 1 3 22 15.0 0 0 0 47.397740722711738 8.5455944102696719 12.0 1
1 0 2 3000 4 0.0 0.0 0.0 47.397732380000001 8.5458224099999995 12.0 1
2 0 3 16 0 0.0 0.0 0.0 47.397749067235559 8.5429755110031351 12.0 1
3 0 3 16 0 0.0 0.0 0.0 47.399213119631852 8.5430124879018479 12.0 1
4 0 2 3000 3 0.0 0.0 0.0 47.399158900000003 8.5429077299999996 12.0 1
5 0 3 21 25.0 0.0 0.0 0.0 47.399211883544922 8.5430123448444419 12.0 1

5
integrationtests/python_src/px4_it/mavros/vtol_old_3.txt
View File

@ -1,5 +0,0 @@
# Old style transitions, takeoff with normal WP
QGC WPL 110
0 1 3 16 15.0 0 0 0 47.398157669127094 8.5460336317115377 12.0 1
1 0 2 3000 4 0.0 0.0 0.0 47.398033142089844 8.5457897186279297 12.0 1
2 0 3 16 0 0.0 0.0 0.0 47.399269104003906 8.5455722808837891 12.0 1