forked from Archive/PX4-Autopilot
test coverage cleanup
- dataman clean exit code - unit test proper cleanup - add some level of simulated sensors for tests - delete unused test/standard_vtol
This commit is contained in:
parent
a985c27ab0
commit
b4da337cd4
2
Makefile
2
Makefile
|
@ -290,7 +290,7 @@ tests_coverage:
|
|||
@$(call PX4_RUN,$(MAKE) --no-print-directory tests PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 HEADLESS=1)
|
||||
@$(call PX4_RUN,lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info)
|
||||
@$(call PX4_RUN,lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' --quiet --output-file coverage.info)
|
||||
@$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info )
|
||||
@$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info)
|
||||
|
||||
test_startup_shutdown:
|
||||
@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_test gazebo_standard_vtol HEADLESS=1 MEMORY_DEBUG=1)
|
||||
|
|
|
@ -1,131 +0,0 @@
|
|||
uorb start
|
||||
param load
|
||||
param set MAV_TYPE 22
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_COUNT 4
|
||||
param set VT_TRANS_THR 0.75
|
||||
param set SYS_AUTOSTART 13006
|
||||
param set SYS_RESTART_TYPE 2
|
||||
param set SYS_MC_EST_GROUP 2
|
||||
dataman start
|
||||
param set BAT_N_CELLS 3
|
||||
param set CAL_GYRO0_ID 2293768
|
||||
param set CAL_ACC0_ID 1376264
|
||||
param set CAL_ACC1_ID 1310728
|
||||
param set CAL_MAG0_ID 196616
|
||||
param set CAL_GYRO0_XOFF 0.01
|
||||
param set CAL_ACC0_XOFF 0.01
|
||||
param set CAL_ACC0_YOFF -0.01
|
||||
param set CAL_ACC0_ZOFF 0.01
|
||||
param set CAL_ACC0_XSCALE 1.01
|
||||
param set CAL_ACC0_YSCALE 1.01
|
||||
param set CAL_ACC0_ZSCALE 1.01
|
||||
param set CAL_ACC1_XOFF 0.01
|
||||
param set CAL_MAG0_XOFF 0.01
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_PITCHRATE_P 0.2
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_ROLL_P 6
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_ACC_HOR_MAX 2.0
|
||||
param set MPC_XY_VEL_P 0.15
|
||||
param set MPC_XY_VEL_I 0.2
|
||||
param set MPC_XY_VEL_D 0.005
|
||||
param set MPC_XY_FF 0.1
|
||||
param set MPC_Z_VEL_MAX 1.5
|
||||
param set MPC_Z_VEL_P 0.6
|
||||
param set MPC_Z_VEL_I 0.15
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set SENS_DPRES_OFF 0.001
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set COM_RC_IN_MODE 1
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_ACC_RAD 5.0
|
||||
param set NAV_LOITER_RAD 80
|
||||
param set MPC_TKO_SPEED 1.0
|
||||
param set MIS_LTRMIN_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set MIS_YAW_TMT 10
|
||||
param set RTL_RETURN_ALT 30.0
|
||||
param set RTL_DESCEND_ALT 10.0
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set COM_DISARM_LAND 2
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
param set EKF2_MAG_TYPE 1
|
||||
simulator start -s
|
||||
rgbledsim start
|
||||
tone_alarm start
|
||||
gyrosim start
|
||||
accelsim start
|
||||
barosim start
|
||||
adcsim start
|
||||
gpssim start
|
||||
measairspeedsim start
|
||||
pwm_out_sim mode_pwm
|
||||
sleep 1
|
||||
sensors start
|
||||
commander start
|
||||
land_detector start multicopter
|
||||
navigator start
|
||||
ekf2 start
|
||||
vtol_att_control start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
fw_pos_control_l1 start
|
||||
fw_att_control start
|
||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
|
||||
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u 14556
|
||||
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
|
||||
logger start -e -t
|
||||
mavlink boot_complete
|
||||
ver all
|
||||
|
||||
sleep 13
|
||||
commander takeoff
|
||||
sleep 2
|
||||
commander land
|
||||
sleep 5
|
||||
|
||||
listener vehicle_status
|
||||
|
||||
logger stop
|
||||
mavlink stop-all
|
||||
vtol_att_control stop
|
||||
mc_pos_control stop
|
||||
mc_att_control stop
|
||||
fw_pos_control_l1 stop
|
||||
fw_att_control stop
|
||||
|
||||
commander stop
|
||||
navigator stop
|
||||
land_detector stop
|
||||
ekf2 stop
|
||||
sensors stop
|
||||
|
||||
rgbledsim stop
|
||||
tone_alarm stop
|
||||
gyrosim stop
|
||||
accelsim stop
|
||||
barosim stop
|
||||
adcsim stop
|
||||
gpssim stop
|
||||
measairspeedsim stop
|
||||
|
||||
dataman stop
|
||||
|
||||
shutdown
|
|
@ -8,14 +8,16 @@ dataman start
|
|||
rgbledsim start
|
||||
tone_alarm start
|
||||
|
||||
#simulator start -s
|
||||
#gyrosim start
|
||||
#accelsim start
|
||||
#barosim start
|
||||
simulator start -t
|
||||
gyrosim start
|
||||
accelsim start
|
||||
barosim start
|
||||
|
||||
#adcsim start
|
||||
#gpssim start
|
||||
#pwm_out_sim mode_pwm
|
||||
adcsim start
|
||||
gpssim start
|
||||
pwm_out_sim mode_pwm
|
||||
|
||||
ver all
|
||||
|
||||
mavlink start -u 14556 -r 2000000
|
||||
|
||||
|
|
|
@ -1275,5 +1275,5 @@ dataman_main(int argc, char *argv[])
|
|||
return -1;
|
||||
}
|
||||
|
||||
return 1;
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -70,6 +70,7 @@ public:
|
|||
test_class* test = new test_class(); \
|
||||
bool success = test->run_tests(); \
|
||||
test->print_results(); \
|
||||
delete test; \
|
||||
return success; \
|
||||
}
|
||||
|
||||
|
|
Loading…
Reference in New Issue