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improve mavros SITL tests (#8652)

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-created a test base class to centralize redundant methods among the different tests
-added mission waypoint list topic listener (this also helps make sure the simulation is ready)
-check number of mission waypoints in FCU against mission
-increase time for mavros topics to be ready from 30 to 60 seconds
-reduce position check loop rates
-clean up logging
-support QGC plan for mission file format, see #8619
-vehicle is an arg for mission test launch file, working toward other airframes
-Jenkins: fix vtol vehicle arg value
-get MAV_TYPE param and use FW radius for pure fixed-wing mission position check
-remove unused vehicle arg from test in multiple tests launch, clearing runtime warning
This commit is contained in:
Anthony Lamping
2018-01-14 21:13:45 -05:00
committed by Daniel Agar
parent e970f3a2a0
commit d375880c4b
8 changed files with 527 additions and 589 deletions
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test/mavros_posix_test_mission.test
+2 -1
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@@ -6,12 +6,13 @@
<arg name="gui" default="false"/>
<arg name="est" default="ekf2"/>
<arg name="mission"/>
<arg name="vehicle"/>
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="standard_vtol"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="est" value="$(arg est)"/>
</include>
test/mavros_posix_tests_missions.test
+6 -6
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@@ -15,11 +15,11 @@
</include>
<group ns="$(arg ns)">
<test test-name="multicopter_box" pkg="px4" type="mission_test.py" vehicle="iris" time-limit="120.0" args="multirotor_box.mission"/>
<test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt" />
<test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt" />
<test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt" />
<test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt" />
<test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt" />
<test test-name="multicopter_box" pkg="px4" type="mission_test.py" time-limit="120.0" args="multirotor_box.mission"/>
<test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt"/>
<test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt"/>
<test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt"/>
<test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt"/>
<test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt"/>
</group>
</launch>