fixes for integration and unit tests

Move ros logs dir so that .ulg files are not in the same directory
(mission_test.py:: get_last_log() fails otherwise)

ROMFS/px4fmu_test/mixers/quad_test.mix

@@ -0,0 +1,25 @@
+Multirotor mixer for TEST
+===========================
+
+This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
+
+R: 4w 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

Tools/sitl_run.sh

@@ -117,6 +117,8 @@ if [[ ($rcS_path == posix-configs/SITL/init/ekf2 || $rcS_path == posix-configs/S
 	&& ($model == "iris" || $model == "typhoon_h480") ]]; then
 	echo "Using new unified rcS for $model"
 	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
+elif [[ ${model} == tests* ]]; then
+	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_test -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
 else
 	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
 fi

integrationtests/python_src/px4_it/mavros/mission_test.py

@@ -60,8 +60,10 @@ def get_last_log():
     try:
         log_path = os.environ['PX4_LOG_DIR']
     except KeyError:
-        log_path = os.path.join(os.environ['HOME'],
-                                '.ros/rootfs/fs/microsd/log')
+        try:
+            log_path = os.path.join(os.environ['ROS_HOME'], 'log')
+        except KeyError:
+            log_path = os.path.join(os.environ['HOME'], '.ros/log')
     last_log_dir = sorted(glob.glob(os.path.join(log_path, '*')))[-1]
     last_log = sorted(glob.glob(os.path.join(last_log_dir, '*.ulg')))[-1]
     return last_log

platforms/posix/src/main.cpp

@@ -321,8 +321,17 @@ int create_symlinks_if_needed(std::string &data_path)
 	std::string src_path = data_path;
 	std::string dest_path = current_path + "/" + path_sym_link;
 
-	if (dir_exists(dest_path)) {
-		return PX4_OK;
+	struct stat info;
+
+	if (lstat(dest_path.c_str(), &info) == 0) {
+		if (S_ISLNK(info.st_mode)) {
+			// recreate the symlink, as it might point to some other location than what we want now
+			unlink(dest_path.c_str());
+
+		} else if (S_ISDIR(info.st_mode)) {
+			return PX4_OK;
+		}
+
 	}
 
 	PX4_INFO("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
@@ -614,9 +623,9 @@ bool dir_exists(const std::string &path)
 	} else if (info.st_mode & S_IFDIR) {
 		return true;
 
-	} else {
-		return false;
 	}
+
+	return false;
 }
 
 std::string pwd()

posix-configs/SITL/init/test/cmd_template.in

@@ -21,11 +21,6 @@ pwm_out_sim start
 
 ver all
 
-list_tasks
-list_devices
-list_topics
-list_files
-
 mavlink start -x -u 14556 -r 2000000
 mavlink boot_complete
 

posix-configs/SITL/init/test/tests_template.in

@@ -21,11 +21,6 @@ pwm_out_sim start
 
 ver all
 
-list_tasks
-list_devices
-list_topics
-list_files
-
 mavlink start -x -u 14556 -r 2000000
 mavlink boot_complete
 

src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp

@@ -45,7 +45,7 @@
 #ifdef __PX4_NUTTX
 #define PX4_MAVLINK_TEST_DATA_DIR "/etc"
 #else
-#define PX4_MAVLINK_TEST_DATA_DIR "ROMFS/px4fmu_test"
+#define PX4_MAVLINK_TEST_DATA_DIR "etc"
 #endif
 
 /// @brief Test case file name for Read command. File are generated using mavlink_ftp_test_data.py

src/systemcmds/tests/test_mixer.cpp

@@ -79,8 +79,8 @@ static bool should_prearm = false;
 #endif
 
 #if defined(CONFIG_ARCH_BOARD_SITL)
-#define MIXER_PATH(_file)  "ROMFS/px4fmu_test/mixers/"#_file
-#define MIXER_ONBOARD_PATH "ROMFS/px4fmu_common/mixers"
+#define MIXER_PATH(_file)  "etc/mixers/"#_file
+#define MIXER_ONBOARD_PATH "etc/mixers"
 #else
 #define MIXER_ONBOARD_PATH "/etc/mixers"
 #define MIXER_PATH(_file) MIXER_ONBOARD_PATH"/"#_file

test/rostest_px4_run.sh

@@ -8,4 +8,7 @@ source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/buil
 
 export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/sitl_gazebo
 
+export ROS_LOG_DIR="$HOME/.ros/ros_logs"
+mkdir -p "$ROS_LOG_DIR"
+
 rostest px4 "$@"