diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests index aa722c9c08..7df3048560 100644 --- a/.ci/Jenkinsfile-SITL_tests +++ b/.ci/Jenkinsfile-SITL_tests @@ -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 = [:] diff --git a/Makefile b/Makefile index cc6727be0a..f682c4f2ad 100644 --- a/Makefile +++ b/Makefile @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/1030_plane b/ROMFS/px4fmu_common/init.d-posix/1030_plane index 8b85c0ec8a..4884cee3d9 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1030_plane +++ b/ROMFS/px4fmu_common/init.d-posix/1030_plane @@ -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 diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_new_2.plan b/integrationtests/python_src/px4_it/mavros/missions/FW_mission_1.plan similarity index 70% rename from integrationtests/python_src/px4_it/mavros/missions/vtol_new_2.plan rename to integrationtests/python_src/px4_it/mavros/missions/FW_mission_1.plan index 3678c7c0b1..67bbed1927 100644 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_new_2.plan +++ b/integrationtests/python_src/px4_it/mavros/missions/FW_mission_1.plan @@ -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, - 8.545592088860758, - 12 + 47.397856910618785, + 8.542576533916815, + 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": [ - 0, - 0, - 0, - null, - 47.39995383332046, - 8.54783592762601, + 47.39602683906673, + 8.539868609985234, 50 ], "type": "SimpleItem" }, { - "AMSLAltAboveTerrain": null, - "Altitude": 20, - "AltitudeMode": 0, "autoContinue": true, - "command": 16, - "doJumpId": 4, - "frame": 3, + "command": 189, + "doJumpId": 3, + "frame": 2, "params": [ 0, 0, 0, - null, - 47.39998472464772, - 8.544660189638307, - 20 + 0, + 0, + 0, + 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" }, @@ -89,33 +91,33 @@ "Altitude": 0, "AltitudeMode": 0, "autoContinue": true, - "command": 85, + "command": 21, "doJumpId": 5, "frame": 3, "params": [ - 0, + 25, 0, 0, null, - 47.39903545, - 8.54322638, + 47.39733554489375, + 8.545863573918894, 0 ], "type": "SimpleItem" } ], "plannedHomePosition": [ - 47.3977419, - 8.5455943, - 489 + 47.397742, + 8.545594, + 488 ], - "vehicleType": 20, + "vehicleType": 1, "version": 2 }, "rallyPoints": { "points": [ ], - "version": 1 + "version": 2 }, "version": 1 } diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_2.plan b/integrationtests/python_src/px4_it/mavros/missions/MC_mission_box.plan similarity index 65% rename from integrationtests/python_src/px4_it/mavros/missions/vtol_old_2.plan rename to integrationtests/python_src/px4_it/mavros/missions/MC_mission_box.plan index d923400e8e..8e2b37540b 100644 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_2.plan +++ b/integrationtests/python_src/px4_it/mavros/missions/MC_mission_box.plan @@ -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, - 47.39774072271174, - 8.545594410269672, - 12 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 3000, - "doJumpId": 2, - "frame": 2, - "params": [ - 4, - 0, - 0, - 0, - 47.39773238, - 8.54582241, - 12 + 47.39773941040039, + 8.5455904006958, + 5 ], "type": "SimpleItem" }, { "AMSLAltAboveTerrain": null, - "Altitude": 12, + "Altitude": 10, + "AltitudeMode": 0, + "autoContinue": true, + "command": 16, + "doJumpId": 2, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39787292480469, + 8.54559326171875, + 10 + ], + "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, - 47.39921311963185, - 8.543012487901848, - 12 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 3000, - "doJumpId": 5, - "frame": 2, - "params": [ - 3, - 0, - 0, - 0, - 47.3991589, - 8.54290773, - 12 + 47.39773941040039, + 8.545336723327637, + 10 ], "type": "SimpleItem" }, { "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, "autoContinue": true, "command": 21, "doJumpId": 6, "frame": 3, "params": [ - 25, + 0, 0, 0, null, - 47.39921188354492, - 8.543012344844442, - 12 + 47.39773941040039, + 8.545591354370117, + 0 ], "type": "SimpleItem" } ], "plannedHomePosition": [ - 47.3977419, - 8.5455943, - 489 + 47.397742, + 8.545594, + 488 ], - "vehicleType": 20, + "vehicleType": 2, "version": 2 }, "rallyPoints": { "points": [ ], - "version": 1 + "version": 2 }, "version": 1 } diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_3.plan b/integrationtests/python_src/px4_it/mavros/missions/VTOL_mission_1.plan similarity index 65% rename from integrationtests/python_src/px4_it/mavros/missions/vtol_old_3.plan rename to integrationtests/python_src/px4_it/mavros/missions/VTOL_mission_1.plan index d595c3cb51..6aee1738b0 100644 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_3.plan +++ b/integrationtests/python_src/px4_it/mavros/missions/VTOL_mission_1.plan @@ -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, - 8.546033631711538, - 12 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 3000, - "doJumpId": 2, - "frame": 2, - "params": [ - 4, - 0, - 0, - 0, - 47.398033142089844, - 8.54578971862793, - 12 + 47.397731862593744, + 8.543269295853861, + 15 ], "type": "SimpleItem" }, { "AMSLAltAboveTerrain": null, - "Altitude": 12, + "Altitude": 15, "AltitudeMode": 0, "autoContinue": true, "command": 16, + "doJumpId": 2, + "frame": 3, + "params": [ + 0, + 0, + 0, + null, + 47.39666467622327, + 8.540909537045792, + 15 + ], + "type": "SimpleItem" + }, + { + "AMSLAltAboveTerrain": null, + "Altitude": 0, + "AltitudeMode": 0, + "autoContinue": true, + "command": 85, "doJumpId": 3, "frame": 3, "params": [ @@ -56,17 +64,17 @@ 0, 0, null, - 47.400993929351195, - 8.544680403485842, - 12 + 47.39615608503663, + 8.54513863086865, + 0 ], "type": "SimpleItem" } ], "plannedHomePosition": [ - 47.3977419, - 8.5455943, - 489 + 47.397742, + 8.545594, + 488 ], "vehicleType": 20, "version": 2 @@ -74,7 +82,7 @@ "rallyPoints": { "points": [ ], - "version": 1 + "version": 2 }, "version": 1 } diff --git a/integrationtests/python_src/px4_it/mavros/missions/multirotor_box.plan b/integrationtests/python_src/px4_it/mavros/missions/multirotor_box.plan deleted file mode 100644 index 9698588199..0000000000 --- a/integrationtests/python_src/px4_it/mavros/missions/multirotor_box.plan +++ /dev/null @@ -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, - 0, - null, - 47.397739410400391, - 8.5455904006958008, - 5.0 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 16, - "doJumpId": 2, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.397872924804688, - 8.54559326171875, - 5.0 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 16, - "doJumpId": 3, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.397872924804688, - 8.5453414916992188, - 5.0 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 16, - "doJumpId": 4, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.397739410400391, - 8.5453367233276367, - 5.0 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 16, - "doJumpId": 5, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.397739410400391, - 8.5455904006958008, - 5.0 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 21, - "doJumpId": 6, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.397739410400391, - 8.5455913543701172, - 5.0 - ], - "type": "SimpleItem" - } - ], - "plannedHomePosition": [ - 47.397742, - 8.545594, - 12.0 - ], - "vehicleType": 2, - "version": 2 - }, - "rallyPoints": { - "points": [ - ], - "version": 1 - }, - "version": 1 -} diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_new_1.plan b/integrationtests/python_src/px4_it/mavros/missions/vtol_new_1.plan deleted file mode 100644 index e4461ad0e3..0000000000 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_new_1.plan +++ /dev/null @@ -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, - "frame": 3, - "params": [ - 15.0, - 0, - 0, - null, - 47.397731862593744, - 8.543269295853861, - 15.0 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 85, - "doJumpId": 2, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.39651890962795, - 8.5433217125134888, - 0.0 - ], - "type": "SimpleItem" - } - ], - "plannedHomePosition": [ - 47.397742, - 8.545594, - 12.0 - ], - "vehicleType": 19, - "version": 2 - }, - "rallyPoints": { - "points": [ - ], - "version": 1 - }, - "version": 1 -} diff --git a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan b/integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan deleted file mode 100644 index d0175fc5d3..0000000000 --- a/integrationtests/python_src/px4_it/mavros/missions/vtol_old_1.plan +++ /dev/null @@ -1,210 +0,0 @@ -{ - "fileType": "Plan", - "geoFence": { - }, - "groundStation": "QGroundControl", - "mission": { - "cruiseSpeed": 15, - "firmwareType": 12, - "hoverSpeed": 5, - "items": [ - { - "AMSLAltAboveTerrain": null, - "Altitude": 12, - "AltitudeMode": 0, - "autoContinue": true, - "command": 22, - "doJumpId": 1, - "frame": 3, - "params": [ - 15, - 0, - 0, - null, - 47.39804640668762, - 8.54583667211159, - 12 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 3000, - "doJumpId": 2, - "frame": 2, - "params": [ - 4, - 0, - 0, - 0, - 47.398033142089844, - 8.54578971862793, - 12 - ], - "type": "SimpleItem" - }, - { - "AMSLAltAboveTerrain": null, - "Altitude": 12, - "AltitudeMode": 0, - "autoContinue": true, - "command": 16, - "doJumpId": 3, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.398882302443944, - 8.544601519419729, - 12 - ], - "type": "SimpleItem" - }, - { - "AMSLAltAboveTerrain": null, - "Altitude": 12, - "AltitudeMode": 0, - "autoContinue": true, - "command": 16, - "doJumpId": 4, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.399831101001084, - 8.54424775753435, - 12 - ], - "type": "SimpleItem" - }, - { - "AMSLAltAboveTerrain": null, - "Altitude": 12, - "AltitudeMode": 0, - "autoContinue": true, - "command": 16, - "doJumpId": 5, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.400661353275886, - 8.544699555148952, - 12 - ], - "type": "SimpleItem" - }, - { - "AMSLAltAboveTerrain": null, - "Altitude": 12, - "AltitudeMode": 0, - "autoContinue": true, - "command": 16, - "doJumpId": 6, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.40083843752823, - 8.546172909420818, - 12 - ], - "type": "SimpleItem" - }, - { - "AMSLAltAboveTerrain": null, - "Altitude": 12, - "AltitudeMode": 0, - "autoContinue": true, - "command": 16, - "doJumpId": 7, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.40019385680461, - 8.547528070486777, - 12 - ], - "type": "SimpleItem" - }, - { - "AMSLAltAboveTerrain": null, - "Altitude": 12, - "AltitudeMode": 0, - "autoContinue": true, - "command": 16, - "doJumpId": 8, - "frame": 3, - "params": [ - 0, - 0, - 0, - null, - 47.39928114568153, - 8.547910568913295, - 12 - ], - "type": "SimpleItem" - }, - { - "autoContinue": true, - "command": 3000, - "doJumpId": 9, - "frame": 2, - "params": [ - 3, - 0, - 0, - 0, - 47.39778518676758, - 8.545262336730957, - 12 - ], - "type": "SimpleItem" - }, - { - "AMSLAltAboveTerrain": null, - "Altitude": 12, - "AltitudeMode": 0, - "autoContinue": true, - "command": 21, - "doJumpId": 10, - "frame": 3, - "params": [ - 25, - 0, - 0, - null, - 47.398884865088675, - 8.547918116539563, - 12 - ], - "type": "SimpleItem" - } - ], - "plannedHomePosition": [ - 47.3977419, - 8.5455943, - 489 - ], - "vehicleType": 20, - "version": 2 - }, - "rallyPoints": { - "points": [ - ], - "version": 1 - }, - "version": 1 -} diff --git a/test/mavros_posix_tests_missions.test b/test/mavros_posix_tests_missions.test index 2aec66c6b8..df892fcd57 100644 --- a/test/mavros_posix_tests_missions.test +++ b/test/mavros_posix_tests_missions.test @@ -16,10 +16,9 @@ - - - - - - + + + + +