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CI mission tests add FW and cleanup (#10250) 

* jenkins: decrease VTOL mission alt and FW mission use simple land wps
* startup: decrease min airspeed scaling factor for landing
* jenkins: FW mission include loiter_to_alt cmd
This commit is contained in:
Daniel Agar 2018-08-17 13:02:14 -04:00 committed by GitHub
parent 5acb9dfed0
commit e356fd89b0
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 184 additions and 550 deletions
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43
.ci/Jenkinsfile-SITL_tests
View File

@ -42,27 +42,16 @@ pipeline {
script {
def missions = [
[
name: "VTOL standard",
name: "FW",
test: "mavros_posix_test_mission.test",
mission: "vtol_new_1",
vehicle: "standard_vtol"
],
[
name: "VTOL tailsitter",
test: "mavros_posix_test_mission.test",
mission: "vtol_new_1",
vehicle: "tailsitter"
],
[
name: "VTOL tiltrotor",
test: "mavros_posix_test_mission.test",
mission: "vtol_new_1",
vehicle: "tiltrotor"
mission: "FW_mission_1",
vehicle: "plane"
],
[
name: "MC box",
test: "mavros_posix_test_mission.test",
mission: "multirotor_box",
mission: "MC_mission_box",
vehicle: "iris"
],
[
@ -76,7 +65,27 @@ pipeline {
test: "mavros_posix_tests_offboard_posctl.test",
mission: "",
vehicle: "iris"
]
],
[
name: "VTOL standard",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "standard_vtol"
],
[
name: "VTOL tailsitter",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "tailsitter"
],
[
name: "VTOL tiltrotor",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "tiltrotor"
],
]
def test_nodes = [:]

2
Makefile
View File

@ -306,7 +306,7 @@ tests_mission_coverage:
@$(MAKE) clean
@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
tests_offboard: rostest

1
ROMFS/px4fmu_common/init.d-posix/1030_plane
View File

@ -14,6 +14,7 @@ then
param set EKF2_MAG_ACCLIM 0
param set EKF2_MAG_YAWLIM 0
param set FW_LND_AIRSPD_SC 1
param set FW_LND_ANG 8
param set FW_P_TC 0.5
param set FW_PR_FF 0.40

94
integrationtests/python_src/px4_it/mavros/missions/vtol_new_2.plan → integrationtests/python_src/px4_it/mavros/missions/FW_mission_1.plan
View File

@ -1,6 +1,11 @@
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
@ -10,10 +15,10 @@
"items": [
{
"AMSLAltAboveTerrain": null,
"Altitude": 12,
"Altitude": 50,
"AltitudeMode": 0,
"autoContinue": true,
"command": 84,
"command": 22,
"doJumpId": 1,
"frame": 3,
"params": [
@ -21,15 +26,15 @@
0,
0,
null,
47.39774638739962,
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12
47.397856910618785,
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50
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 12,
"Altitude": 50,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
@ -40,47 +45,44 @@
0,
0,
null,
47.3981026817918,
8.548114267064136,
12
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 50,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
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],
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},
{
"AMSLAltAboveTerrain": null,
"Altitude": 20,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"doJumpId": 4,
"frame": 3,
"command": 189,
"doJumpId": 3,
"frame": 2,
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],
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},
{
"AMSLAltAboveTerrain": null,
"Altitude": 25,
"AltitudeMode": 0,
"autoContinue": true,
"command": 31,
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"frame": 3,
"params": [
1,
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0,
1,
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8.543743516831427,
25
],
"type": "SimpleItem"
},
@ -89,33 +91,33 @@
"Altitude": 0,
"AltitudeMode": 0,
"autoContinue": true,
"command": 85,
"command": 21,
"doJumpId": 5,
"frame": 3,
"params": [
0,
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null,
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],
"type": "SimpleItem"
}
],
"plannedHomePosition": [
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],
"vehicleType": 20,
"vehicleType": 1,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 1
"version": 2
},
"version": 1
}

121
integrationtests/python_src/px4_it/mavros/missions/vtol_old_2.plan → integrationtests/python_src/px4_it/mavros/missions/MC_mission_box.plan
View File

@ -1,6 +1,11 @@
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
@ -10,7 +15,7 @@
"items": [
{
"AMSLAltAboveTerrain": null,
"Altitude": 12,
"Altitude": 5,
"AltitudeMode": 0,
"autoContinue": true,
"command": 22,
@ -21,31 +26,34 @@
0,
0,
null,
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8.545594410269672,
12
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 3000,
"doJumpId": 2,
"frame": 2,
"params": [
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],
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},
{
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"Altitude": 12,
"Altitude": 10,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
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],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 10,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
@ -55,16 +63,16 @@
0,
0,
0,
0,
47.39693448800759,
8.540991562303702,
12
null,
47.39787292480469,
8.545341491699219,
10
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 12,
"Altitude": 10,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
@ -75,60 +83,63 @@
0,
0,
null,
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8.543012487901848,
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],
"type": "SimpleItem"
},
{
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"command": 3000,
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"frame": 2,
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],
"type": "SimpleItem"
},
{
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"Altitude": 10,
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"autoContinue": true,
"command": 16,
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"frame": 3,
"params": [
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],
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},
{
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"Altitude": 0,
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"autoContinue": true,
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],
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"vehicleType": 2,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 1
"version": 2
},
"version": 1
}

66
integrationtests/python_src/px4_it/mavros/missions/vtol_old_3.plan → integrationtests/python_src/px4_it/mavros/missions/VTOL_mission_1.plan
View File

@ -1,6 +1,11 @@
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
@ -10,10 +15,10 @@
"items": [
{
"AMSLAltAboveTerrain": null,
"Altitude": 12,
"Altitude": 15,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"command": 84,
"doJumpId": 1,
"frame": 3,
"params": [
@ -21,34 +26,37 @@
0,
0,
null,
47.398157669127094,
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],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 3000,
"doJumpId": 2,
"frame": 2,
"params": [
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0,
0,
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8.54578971862793,
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47.397731862593744,
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],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 12,
"Altitude": 15,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
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null,
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],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 0,
"AltitudeMode": 0,
"autoContinue": true,
"command": 85,
"doJumpId": 3,
"frame": 3,
"params": [
@ -56,17 +64,17 @@
0,
0,
null,
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],
"type": "SimpleItem"
}
],
"plannedHomePosition": [
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47.397742,
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],
"vehicleType": 20,
"version": 2
@ -74,7 +82,7 @@
"rallyPoints": {
"points": [
],
"version": 1
"version": 2
},
"version": 1
}

125
integrationtests/python_src/px4_it/mavros/missions/multirotor_box.plan
View File

@ -1,125 +0,0 @@
{
"fileType": "Plan",
"geoFence": {
"polygon": [
],
"version": 1
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 12,
"hoverSpeed": 5,
"items": [
{
"autoContinue": true,
"command": 22,
"doJumpId": 1,
"frame": 3,
"params": [
15.0,
0,
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null,
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],
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},
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],
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},
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}

61
integrationtests/python_src/px4_it/mavros/missions/vtol_new_1.plan
View File

@ -1,61 +0,0 @@
{
"fileType": "Plan",
"geoFence": {
"polygon": [
],
"version": 1
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 12,
"hoverSpeed": 5,
"items": [
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210
integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan
View File

@ -1,210 +0,0 @@
{
"fileType": "Plan",
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},
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"hoverSpeed": 5,
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{
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"Altitude": 12,
"AltitudeMode": 0,
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11
test/mavros_posix_tests_missions.test
View File

@ -16,10 +16,9 @@
<arg name="respawn_mavros" value="true"/>
</include>
<!-- ROStest -->
<test test-name="multirotor_box" pkg="px4" type="mission_test.py" time-limit="300.0" args="multirotor_box.plan"/>
<test test-name="vtol_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.plan"/>
<test test-name="vtol_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.plan"/>
<test test-name="vtol_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.plan"/>
<test test-name="vtol_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.plan"/>
<test test-name="vtol_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.plan"/>
<test test-name="FW_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="FW_mission_1.plan" vehicle="plane"/>
<test test-name="MC_mission_box" pkg="px4" type="mission_test.py" time-limit="300.0" args="MC_mission_box.plan" vehicle="iris"/>
<test test-name="VTOL_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="VTOL_mission_1.plan" vehicle="standard_vtol"/>
<test test-name="VTOL_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="VTOL_mission_1.plan" vehicle="tailsitter"/>
<test test-name="VTOL_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="VTOL_mission_1.plan" vehicle="tiltrotor"/>
</launch>