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

2
Makefile
View File

@ -306,7 +306,7 @@ tests_mission_coverage:
@$(MAKE) clean @$(MAKE) clean
@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage @$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage @$(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
@$(MAKE) --no-print-directory posix_sitl_default generate_coverage @$(MAKE) --no-print-directory posix_sitl_default generate_coverage
tests_offboard: rostest 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_ACCLIM 0
param set EKF2_MAG_YAWLIM 0 param set EKF2_MAG_YAWLIM 0
param set FW_LND_AIRSPD_SC 1
param set FW_LND_ANG 8 param set FW_LND_ANG 8
param set FW_P_TC 0.5 param set FW_P_TC 0.5
param set FW_PR_FF 0.40 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", "fileType": "Plan",
"geoFence": { "geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
}, },
"groundStation": "QGroundControl", "groundStation": "QGroundControl",
"mission": { "mission": {
@ -10,10 +15,10 @@
"items": [ "items": [
{ {
"AMSLAltAboveTerrain": null, "AMSLAltAboveTerrain": null,
"Altitude": 12, "Altitude": 50,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 84, "command": 22,
"doJumpId": 1, "doJumpId": 1,
"frame": 3, "frame": 3,
"params": [ "params": [
@ -21,15 +26,15 @@
0, 0,
0, 0,
null, null,
47.39774638739962, 47.397856910618785,
8.545592088860758, 8.542576533916815,
12 50
], ],
"type": "SimpleItem" "type": "SimpleItem"
}, },
{ {
"AMSLAltAboveTerrain": null, "AMSLAltAboveTerrain": null,
"Altitude": 12, "Altitude": 50,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 16, "command": 16,
@ -40,47 +45,44 @@
0, 0,
0, 0,
null, null,
47.3981026817918, 47.39602683906673,
8.548114267064136, 8.539868609985234,
12
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 50,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.39995383332046,
8.54783592762601,
50 50
], ],
"type": "SimpleItem" "type": "SimpleItem"
}, },
{ {
"AMSLAltAboveTerrain": null,
"Altitude": 20,
"AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 16, "command": 189,
"doJumpId": 4, "doJumpId": 3,
"frame": 3, "frame": 2,
"params": [ "params": [
0, 0,
0, 0,
0, 0,
null, 0,
47.39998472464772, 0,
8.544660189638307, 0,
20 0
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 25,
"AltitudeMode": 0,
"autoContinue": true,
"command": 31,
"doJumpId": 4,
"frame": 3,
"params": [
1,
50,
0,
1,
47.39537936180079,
8.543743516831427,
25
], ],
"type": "SimpleItem" "type": "SimpleItem"
}, },
@ -89,33 +91,33 @@
"Altitude": 0, "Altitude": 0,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 85, "command": 21,
"doJumpId": 5, "doJumpId": 5,
"frame": 3, "frame": 3,
"params": [ "params": [
0, 25,
0, 0,
0, 0,
null, null,
47.39903545, 47.39733554489375,
8.54322638, 8.545863573918894,
0 0
], ],
"type": "SimpleItem" "type": "SimpleItem"
} }
], ],
"plannedHomePosition": [ "plannedHomePosition": [
47.3977419, 47.397742,
8.5455943, 8.545594,
489 488
], ],
"vehicleType": 20, "vehicleType": 1,
"version": 2 "version": 2
}, },
"rallyPoints": { "rallyPoints": {
"points": [ "points": [
], ],
"version": 1 "version": 2
}, },
"version": 1 "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", "fileType": "Plan",
"geoFence": { "geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
}, },
"groundStation": "QGroundControl", "groundStation": "QGroundControl",
"mission": { "mission": {
@ -10,7 +15,7 @@
"items": [ "items": [
{ {
"AMSLAltAboveTerrain": null, "AMSLAltAboveTerrain": null,
"Altitude": 12, "Altitude": 5,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 22, "command": 22,
@ -21,31 +26,34 @@
0, 0,
0, 0,
null, null,
47.39774072271174, 47.39773941040039,
8.545594410269672, 8.5455904006958,
12 5
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 3000,
"doJumpId": 2,
"frame": 2,
"params": [
4,
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0,
0,
47.39773238,
8.54582241,
12
], ],
"type": "SimpleItem" "type": "SimpleItem"
}, },
{ {
"AMSLAltAboveTerrain": null, "AMSLAltAboveTerrain": null,
"Altitude": 12, "Altitude": 10,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.39787292480469,
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10
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 10,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 16, "command": 16,
@ -55,16 +63,16 @@
0, 0,
0, 0,
0, 0,
0, null,
47.39693448800759, 47.39787292480469,
8.540991562303702, 8.545341491699219,
12 10
], ],
"type": "SimpleItem" "type": "SimpleItem"
}, },
{ {
"AMSLAltAboveTerrain": null, "AMSLAltAboveTerrain": null,
"Altitude": 12, "Altitude": 10,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 16, "command": 16,
@ -75,60 +83,63 @@
0, 0,
0, 0,
null, null,
47.39921311963185, 47.39773941040039,
8.543012487901848, 8.545336723327637,
12 10
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 3000,
"doJumpId": 5,
"frame": 2,
"params": [
3,
0,
0,
0,
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8.54290773,
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], ],
"type": "SimpleItem" "type": "SimpleItem"
}, },
{ {
"AMSLAltAboveTerrain": null, "AMSLAltAboveTerrain": null,
"Altitude": 12, "Altitude": 10,
"AltitudeMode": 0,
"autoContinue": true,
"command": 16,
"doJumpId": 5,
"frame": 3,
"params": [
0,
0,
0,
null,
47.39773941040039,
8.5455904006958,
10
],
"type": "SimpleItem"
},
{
"AMSLAltAboveTerrain": null,
"Altitude": 0,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 21, "command": 21,
"doJumpId": 6, "doJumpId": 6,
"frame": 3, "frame": 3,
"params": [ "params": [
25, 0,
0, 0,
0, 0,
null, null,
47.39921188354492, 47.39773941040039,
8.543012344844442, 8.545591354370117,
12 0
], ],
"type": "SimpleItem" "type": "SimpleItem"
} }
], ],
"plannedHomePosition": [ "plannedHomePosition": [
47.3977419, 47.397742,
8.5455943, 8.545594,
489 488
], ],
"vehicleType": 20, "vehicleType": 2,
"version": 2 "version": 2
}, },
"rallyPoints": { "rallyPoints": {
"points": [ "points": [
], ],
"version": 1 "version": 2
}, },
"version": 1 "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", "fileType": "Plan",
"geoFence": { "geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
}, },
"groundStation": "QGroundControl", "groundStation": "QGroundControl",
"mission": { "mission": {
@ -10,10 +15,10 @@
"items": [ "items": [
{ {
"AMSLAltAboveTerrain": null, "AMSLAltAboveTerrain": null,
"Altitude": 12, "Altitude": 15,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 16, "command": 84,
"doJumpId": 1, "doJumpId": 1,
"frame": 3, "frame": 3,
"params": [ "params": [
@ -21,34 +26,37 @@
0, 0,
0, 0,
null, null,
47.398157669127094, 47.397731862593744,
8.546033631711538, 8.543269295853861,
12 15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 3000,
"doJumpId": 2,
"frame": 2,
"params": [
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0,
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], ],
"type": "SimpleItem" "type": "SimpleItem"
}, },
{ {
"AMSLAltAboveTerrain": null, "AMSLAltAboveTerrain": null,
"Altitude": 12, "Altitude": 15,
"AltitudeMode": 0, "AltitudeMode": 0,
"autoContinue": true, "autoContinue": true,
"command": 16, "command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
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null,
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],
"type": "SimpleItem"
},
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"Altitude": 0,
"AltitudeMode": 0,
"autoContinue": true,
"command": 85,
"doJumpId": 3, "doJumpId": 3,
"frame": 3, "frame": 3,
"params": [ "params": [
@ -56,17 +64,17 @@
0, 0,
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null, null,
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8.544680403485842, 8.54513863086865,
12 0
], ],
"type": "SimpleItem" "type": "SimpleItem"
} }
], ],
"plannedHomePosition": [ "plannedHomePosition": [
47.3977419, 47.397742,
8.5455943, 8.545594,
489 488
], ],
"vehicleType": 20, "vehicleType": 20,
"version": 2 "version": 2
@ -74,7 +82,7 @@
"rallyPoints": { "rallyPoints": {
"points": [ "points": [
], ],
"version": 1 "version": 2
}, },
"version": 1 "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": [
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0,
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null,
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],
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},
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"params": [
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],
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},
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"doJumpId": 3,
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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": [
{
"autoContinue": true,
"command": 84,
"doJumpId": 1,
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}

210
integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan
View File

@ -1,210 +0,0 @@
{
"fileType": "Plan",
"geoFence": {
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 12,
"hoverSpeed": 5,
"items": [
{
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"Altitude": 12,
"AltitudeMode": 0,
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"doJumpId": 1,
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}

11
test/mavros_posix_tests_missions.test
View File

@ -16,10 +16,9 @@
<arg name="respawn_mavros" value="true"/> <arg name="respawn_mavros" value="true"/>
</include> </include>
<!-- ROStest --> <!-- ROStest -->
<test test-name="multirotor_box" pkg="px4" type="mission_test.py" time-limit="300.0" args="multirotor_box.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="vtol_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.plan"/> <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_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.plan"/> <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_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.plan"/> <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_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.plan"/> <test test-name="VTOL_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="VTOL_mission_1.plan" vehicle="tiltrotor"/>
<test test-name="vtol_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.plan"/>
</launch> </launch>