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chore(tools): remove dead scripts and files with zero references

Browse Source 
Remove files that have zero references in the codebase and haven't been
meaningfully touched in years:

- Tools/stack_usage/avstack.pl: AVR stack checker (2017), wrong arch, 0 refs
- Tools/usb_serialload.py: USB serial load tester (2022), Python 2, 0 refs
- Tools/dist/vehicle_configs.xml: old vehicle configs (2015), deprecated mixer format, 0 refs
- Tools/models/sdp3x_pitot_model.py: SDP3x pitot model (2017), 0 refs
- Tools/Matlab/motors.m: MATLAB motor script (2015), 0 refs
- Tools/Matlab/plot_mag.m: MATLAB mag plotter (2015), 0 refs
- src/modules/local_position_estimator/fault_table.py: fault table gen (2018), LPE disabled, 0 refs
- integrationtests/python_src/px4_it/util/flight_path_assertion.py: old ROS1 util (2016), 0 refs
- integrationtests/python_src/px4_it/util/TODO.md: stale TODO (2016), 0 refs
- integrationtests/python_src/px4_it/dronekit/: DroneKit mission checker (2019), deprecated lib, 0 refs
- platforms/posix/src/px4/common/lockstep_scheduler/build-and-test.sh: standalone build (2019), replaced by CMake, 0 refs

Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>
This commit is contained in:
Jacob Dahl
2026-03-18 01:10:42 -08:00
parent 7c1dee0b41
commit e05eca20a4
12 changed files with 0 additions and 1114 deletions
Download Patch File Download Diff File Expand all files Collapse all files
integrationtests/python_src/px4_it/dronekit/MissionCheck.py
-229
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@@ -1,229 +0,0 @@
#!/usr/bin/env python
################################################################################################
# @File MissionCheck.py
# Automated mission loading, execution and monitoring
# for Continuous Integration
#
# @author Sander Smeets <sander@droneslab.com>
#
# Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics.
################################################################################################
################################################################################################
# Settings
################################################################################################
from __future__ import print_function
connection_string = '127.0.0.1:14540'
import_mission_filename = 'VTOL_TAKEOFF.mission'
max_execution_time = 200
alt_acceptance_radius = 5
################################################################################################
# Init
################################################################################################
# Import DroneKit-Python
from dronekit import connect, Command, VehicleMode
from pymavlink import mavutil
import time, sys, argparse, json
parser = argparse.ArgumentParser()
parser.add_argument("-c", "--connect", help="connection string")
parser.add_argument("-f", "--filename", help="mission filename")
parser.add_argument("-t", "--timeout", help="execution timeout", type=float)
parser.add_argument("-a", "--altrad", help="altitude acceptance radius", type=float)
args = parser.parse_args()
if args.connect:
connection_string = args.connect
if args.filename:
import_mission_filename = args.filename
if args.timeout:
max_execution_time = args.timeout
if args.altrad:
alt_acceptance_radius = args.altrad
mission_failed = False
MAV_MODE_AUTO = 4
# start time counter
start_time = time.time()
elapsed_time = time.time() - start_time
# Connect to the Vehicle
print("Connecting")
vehicle = connect(connection_string, wait_ready=True)
while not vehicle.system_status.state == "STANDBY" or vehicle.gps_0.fix_type < 3:
if time.time() - start_time > 20:
print("FAILED: SITL did not reach standby with GPS fix within 20 seconds")
sys.exit(98)
print("Waiting for vehicle to initialise... %s " % vehicle.system_status.state)
time.sleep(1)
# Display basic vehicle state
print(" Type: %s" % vehicle._vehicle_type)
print(" Armed?: %s" % vehicle.armed)
print(" System status: %s" % vehicle.system_status.state)
print(" GPS: %s" % vehicle.gps_0)
print(" Alt: %s" % vehicle.location.global_relative_frame.alt)
################################################################################################
# Functions
################################################################################################
def read_mission_json(f):
d = json.load(f)
current = True
missionlist=[]
for wp in d['items']:
cmd = Command( 0, 0, 0, int(wp['frame']), int(wp['command']), current, int(wp['autoContinue']), float(wp['param1']), float(wp['param2']), float(wp['param3']), float(wp['param4']), float(wp['coordinate'][0]), float(wp['coordinate'][1]), float(wp['coordinate'][2]))
missionlist.append(cmd)
if current:
current = False
return missionlist
def upload_mission(aFileName):
"""
Upload a mission from a file.
"""
#Read mission from file
with open(aFileName) as f:
missionlist = read_mission_json(f)
#Clear existing mission from vehicle
cmds = vehicle.commands
cmds.clear()
#Add new mission to vehicle
for command in missionlist:
cmds.add(command)
print(' Uploaded mission with %s items' % len(missionlist))
vehicle.commands.upload()
return missionlist
################################################################################################
# Listeners
################################################################################################
current_sequence = -1
current_sequence_changed = False
current_landed_state = -1
home_position_set = False
#Create a message listener for mission sequence number
@vehicle.on_message('MISSION_CURRENT')
def listener(self, name, mission_current):
global current_sequence, current_sequence_changed
if (current_sequence != mission_current.seq):
current_sequence = mission_current.seq;
current_sequence_changed = True
print('current mission sequence: %s' % mission_current.seq)
#Create a message listener for mission sequence number
@vehicle.on_message('EXTENDED_SYS_STATE')
def listener(self, name, extended_sys_state):
global current_landed_state
if (current_landed_state != extended_sys_state.landed_state):
current_landed_state = extended_sys_state.landed_state;
#Create a message listener for home position fix
@vehicle.on_message('HOME_POSITION')
def listener(self, name, home_position):
global home_position_set
home_position_set = True
################################################################################################
# Start mission test
################################################################################################
while not home_position_set:
if time.time() - start_time > 30:
print("FAILED: getting home position 30 seconds")
sys.exit(98)
print("Waiting for home position...")
time.sleep(1)
#Upload mission from file
missionlist = upload_mission(import_mission_filename)
time.sleep(2)
# set mission mode
vehicle.mode = VehicleMode("MISSION")
time.sleep(1)
# Arm vehicle
vehicle.armed = True
while not vehicle.system_status.state == "ACTIVE":
if time.time() - start_time > 30:
print("FAILED: vehicle did not arm within 30 seconds")
sys.exit(98)
print("Waiting for vehicle to arm...")
time.sleep(1)
# Wait for completion of mission items
while (current_sequence < len(missionlist)-1 and elapsed_time < max_execution_time):
time.sleep(.2)
if current_sequence > 0 and current_sequence_changed:
if missionlist[current_sequence-1].z - alt_acceptance_radius > vehicle.location.global_relative_frame.alt or missionlist[current_sequence-1].z + alt_acceptance_radius < vehicle.location.global_relative_frame.alt:
print("waypoint %s out of bounds altitude %s gps altitude: %s" % (current_sequence, missionlist[current_sequence-1].z, vehicle.location.global_relative_frame.alt))
mission_failed = True
current_sequence_changed = False
elapsed_time = time.time() - start_time
if elapsed_time < max_execution_time:
print("Mission items have been executed")
# wait for the vehicle to have landed
while (current_landed_state != 1 and elapsed_time < max_execution_time):
time.sleep(1)
elapsed_time = time.time() - start_time
if elapsed_time < max_execution_time:
print("Vehicle has landed")
# Disarm vehicle
vehicle.armed = False
# count elapsed time
elapsed_time = time.time() - start_time
# Close vehicle object before exiting script
vehicle.close()
time.sleep(2)
# Validate time constraint
if elapsed_time <= max_execution_time and not mission_failed:
print("Mission succesful time elapsed %s" % elapsed_time)
sys.exit(0)
if elapsed_time > max_execution_time:
print("Mission FAILED to execute within %s seconds" % max_execution_time)
sys.exit(99)
if mission_failed:
print("Mission FAILED out of bounds")
sys.exit(100)
print("Mission FAILED something strange happened")
sys.exit(101)
integrationtests/python_src/px4_it/dronekit/VTOL_TAKEOFF.mission
-89
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@@ -1,89 +0,0 @@
{
"MAV_AUTOPILOT": 12,
"complexItems": [
],
"groundStation": "QGroundControl",
"items": [
{
"autoContinue": true,
"command": 84,
"coordinate": [
47.397510528564453,
8.5502662658691406,
10
],
"frame": 3,
"id": 1,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
{
"autoContinue": true,
"command": 16,
"coordinate": [
47.395450592041016,
8.5501842498779297,
10
],
"frame": 3,
"id": 2,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
{
"autoContinue": true,
"command": 16,
"coordinate": [
47.395420809467687,
8.5456138849258423,
10
],
"frame": 3,
"id": 3,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
{
"autoContinue": true,
"command": 85,
"coordinate": [
47.397735595703125,
8.5456113815307617,
10
],
"frame": 3,
"id": 4,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
}
],
"plannedHomePosition": {
"autoContinue": true,
"command": 16,
"coordinate": [
47.39659309387207,
8.5479388236999512,
0
],
"frame": 0,
"id": 0,
"param1": 0,
"param2": 0,
"param3": 0,
"param4": 0,
"type": "missionItem"
},
"version": "1.0"
}
integrationtests/python_src/px4_it/util/TODO.md
-1
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@@ -1 +0,0 @@
TODO: Adopt to new SITL
integrationtests/python_src/px4_it/util/flight_path_assertion.py
-197
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@@ -1,197 +0,0 @@
#!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#***************************************************************************/
#
# @author Andreas Antener <andreas@uaventure.com>
#
import rospy
import threading
from px4.msg import vehicle_local_position
from gazebo_msgs.srv import SpawnModel
from gazebo_msgs.srv import SetModelState
from gazebo_msgs.srv import DeleteModel
from geometry_msgs.msg import Pose
from geometry_msgs.msg import Twist
from numpy import linalg
import numpy as np
#
# Helper to test if vehicle stays on expected flight path.
#
class FlightPathAssertion(threading.Thread):
#
# Arguments
# - positions: tuple of tuples in the form (x, y, z, heading)
#
# TODO: yaw validation
# TODO: fail main test thread
#
def __init__(self, positions, tunnelRadius=1, yaw_offset=0.2):
threading.Thread.__init__(self)
rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
self.spawn_model = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
self.set_model_state = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
self.delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
self.positions = positions
self.tunnel_radius = tunnelRadius
self.yaw_offset = yaw_offset
self.has_pos = False
self.should_stop = False
self.center = positions[0]
self.end_of_segment = False
self.failed = False
self.local_position = vehicle_local_position
def position_callback(self, data):
self.has_pos = True
self.local_position = data
def spawn_indicator(self):
self.delete_model("indicator")
xml = (
"<?xml version='1.0'?>" +
"<sdf version='1.4'>" +
"<model name='indicator'>" +
"<static>true</static>" +
"<link name='link'>" +
"<visual name='visual'>" +
"<transparency>0.7</transparency>" +
"<geometry>" +
"<sphere>" +
"<radius>%f</radius>" +
"</sphere>" +
"</geometry>" +
"<material>" +
"<ambient>1 0 0 0.5</ambient>" +
"<diffuse>1 0 0 0.5</diffuse>" +
"</material>" +
"</visual>" +
"</link>" +
"</model>" +
"</sdf>") % self.tunnel_radius
self.spawn_model("indicator", xml, "", Pose(), "")
def position_indicator(self):
state = SetModelState()
state.model_name = "indicator"
pose = Pose()
pose.position.x = self.center[0]
pose.position.y = (-1) * self.center[1]
pose.position.z = (-1) * self.center[2]
state.pose = pose
state.twist = Twist()
state.reference_frame = ""
self.set_model_state(state)
def distance_to_line(self, a, b, pos):
v = b - a
w = pos - a
c1 = np.dot(w, v)
if c1 <= 0: # before a
self.center = a
return linalg.norm(pos - a)
c2 = np.dot(v, v)
if c2 <= c1: # after b
self.center = b
self.end_of_segment = True
return linalg.norm(pos - b)
x = c1 / c2
l = a + x * v
self.center = l
return linalg.norm(pos - l)
def stop(self):
self.should_stop = True
def run(self):
rate = rospy.Rate(10) # 10hz
self.spawn_indicator()
current = 0
count = 0
while not self.should_stop:
if self.has_pos:
# calculate distance to line segment between first two points
# if distances > tunnel_radius
# exit with error
# advance current pos if not on the line anymore or distance to next point < tunnel_radius
# exit if current pos is now the last position
self.position_indicator()
pos = np.array((self.local_position.x,
self.local_position.y,
self.local_position.z))
a_pos = np.array((self.positions[current][0],
self.positions[current][1],
self.positions[current][2]))
b_pos = np.array((self.positions[current + 1][0],
self.positions[current + 1][1],
self.positions[current + 1][2]))
dist = self.distance_to_line(a_pos, b_pos, pos)
b_dist = linalg.norm(pos - b_pos)
rospy.logdebug("distance to line: %f, distance to end: %f" % (dist, b_dist))
if dist > self.tunnel_radius:
msg = "left tunnel at position (%f, %f, %f)" % (self.local_position.x, self.local_position.y, self.local_position.z)
rospy.logerr(msg)
self.failed = True
break
if self.end_of_segment or b_dist < self.tunnel_radius:
rospy.loginfo("next segment")
self.end_of_segment = False
current = current + 1
if current == len(self.positions) - 1:
rospy.loginfo("no more positions")
break
rate.sleep()
count = count + 1
if count > 10 and not self.has_pos: # no position after 1 sec
rospy.logerr("no position")
self.failed = True
break