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67 Commits

Author SHA1 Message Date
Jacob Dahl
1af6f70d57 chore(tests): remove dead integration test utilities with zero references 
- integrationtests/python_src/px4_it/util/manual_input.py: last meaningful change 2019, 0 refs
- integrationtests/python_src/px4_it/util/px4_test_helper.py: last meaningful change 2016, 0 refs
 2026-03-18 01:11:10 -08:00
Jacob Dahl
e05eca20a4 chore(tools): remove dead scripts and files with zero references 
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>
 2026-03-18 01:10:42 -08:00
chfriedrich98
e266d1f22f rover: remove deprecated module 2025-07-10 10:11:58 +02:00
Matthias Grob
ed9111ec49 Remove obstacle avoidance test with Gazebo classic and ROS 1 2025-02-18 14:33:16 +01:00
Matthias Grob
f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Per Frivik
267cb9906e
integrationtests: mavros increase threshold for yaw_error_std 2024-05-29 11:11:09 -04:00
Daniel Agar
bb5dfc7d51 integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong) 2024-05-17 11:19:04 +02:00
Daniel Agar
892d507ca7
integrationtests: MAVROS mission_test.py relax yaw estimate STD check for now (#22061) 
- ekf2 heading first initializes to 0 degrees, then immediately resets to mag heading once a few samples are accumulated
 - the yaw standard deviation check could be adjusted to exclude this brief (<1s) initial period
 2023-09-08 15:27:39 -04:00
Hamish Willee
e6eed43648
Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
benjinne
06a91ec752
Improve offboard failsafe (#18160) 
* state_machine_helper: improve offboard failsafe

* state_machine_helper: add missing parameter to set_link_loss_nav_state

* state_machine_helper: fix no rc and offboard reason

* Fix offboard test by enabling rcl_except

* mavros_test fix offboard_posctl_test with rcl_except

* autopilot_tester make RcLossException bits explicit

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester change rcl_except to rc_loss_exception

Co-authored-by: Julian Oes <julian@oes.ch>

* autopilot_tester fix rc_loss_exception renaming errors

Co-authored-by: Julian Oes <julian@oes.ch>
 2021-09-08 18:19:53 +02:00
Daniel Agar
f61d8539cb fw_pos_control_l1: add takeoff minimum pitch parameter 
- remove mavlink mechanism for setting minimum pitch
 2021-02-12 13:57:15 -05:00
Pedro Roque
3ea52fecd3 Added Roll Pitch Yawrate Thrust offboard test. Testing... 2020-04-30 17:43:25 -04:00
baumanta
8709fc3cf9 fix SITL attctl test for less drag 2020-04-08 10:39:56 +02:00
TSC21
88a32cb680 mission_test: fix px4tools func import 2020-01-13 21:48:35 +00:00
TSC21
ed974d83f5 run mission_test over python2 2020-01-13 21:48:35 +00:00
Julian Oes
f9ab38f1bc mission_test: let's try to run this with Python 3 2020-01-13 21:48:35 +00:00
Christian Clauss
6dc55f97d4 More fixes for Python 3 compatibility (#13008) 
* More fixes for Python 3 compatibility

* Workaround if the six module is not pip installed

* Lose the semicolons
 2019-12-19 02:05:55 -08:00
Christian Clauss
41516fbd55 Old style exceptions are Python 3 syntax errors 2019-09-22 17:47:37 -04:00
cclauss
c18104d48b Use print() function in both Python 2 and Python 3 
Legacy __print__ statements are syntax errors in Python 3 but __print()__ function works as expected in both Python 2 and Python 3.
 2019-09-22 13:54:24 -04:00
Martina Rivizzigno
959a35b3bd add safe_landing_planner to CI 2019-08-02 09:12:02 -04:00
Daniel Agar
a175c4407d
Jenkins add rover SITL test 2019-06-15 17:55:44 -04:00
pedro-roque
a707403eaf mc_att_ctrl: added yawrate control from offboard. 
This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the
PX4 stack, enabling the UAV to follow specific yawrates sent from
offboard. It also introduces individual body_rate flags, along the
lines of mavros.

Tested on a MoCap enabled flight arena in KTH Royal Institute of
Technology, Stockholm. The MAV receives RPYrT setpoints from an
external PID controller to stabilize around position setpoints.
The UAV is also externally disturbed to assess the stability to
external unmodeled events.

Fixed Kabir comments.

Removed deprecated ignore_bodyrate.

Fixed integration test.
 2019-06-04 08:26:09 +02:00
Daniel Agar
2d1c60bc85
SITL offboard ATT test reduce Z boundary requirement 
- fixes #12155
 2019-06-03 12:31:12 -04:00
Martina Rivizzigno
09b795161e Obstacle Avoidance testing in CI (#10780) 2019-03-15 00:37:23 -04:00
Daniel Agar
066ca50ddf
mission test temporarily increase landed timeout 60s -> 120s (#10596) 
- revert once #10590 is resolved properly
 2018-09-28 10:28:07 -04:00
Daniel Agar
5ec4a48a90 CI mission tests align with initial heading 2018-08-17 22:25:45 -04:00
Daniel Agar
e356fd89b0
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
 2018-08-17 13:02:14 -04:00
Beat Küng
5363aff879 fixes for integration and unit tests 
Move ros logs dir so that .ulg files are not in the same directory
(mission_test.py:: get_last_log() fails otherwise)
 2018-08-08 21:09:39 +02:00
Anthony Lamping
752d43d94c lengthen offboard tests 
* land after offboard flying complete
* lengthen rostest time limit for tests (5 min ea)
 2018-03-30 18:54:04 -04:00
Daniel Agar
b5aded0db2 update vtol mission tests to increase length 2018-03-21 20:49:41 -04:00
Anthony Lamping
3be6a439f1 CI: better detect end of mission 
if the vehicle doesn't land and disarm at the end of the mission, the current sequence doesn't reset to 0
 2018-03-01 12:21:22 -05:00
Anthony Lamping
3b69361a00 CI: move missions into a folder 2018-03-01 12:21:22 -05:00
Anthony Lamping
4158b5e6a9 CI: remove old mission formats 2018-03-01 12:21:22 -05:00
Anthony Lamping
e9c7023083 CI: add missions in plan file format 2018-03-01 12:21:22 -05:00
Anthony Lamping
c22dc2beaf CI: mission WP reached - satisfy based on mavros topics instead of distance check (#8879) 2018-02-13 20:49:18 -05:00
Anthony Lamping
86ae744266 CI: allow Gazebo to restart on crash (#8817) 
* add respawn_gazebo arg to be used with empty_world.launch
* catch rospy sleep method's exceptions
* fix copy-paste mistake in land state failure message
 2018-02-06 15:11:09 -05:00
Anthony Lamping
85ba160757 CI: improve mavros SITL tests logging (#8714) 
* add more logging to help with #8556
* log subscribed topics on mission start and test exit (pass or fail)
* use mavlink enums everywhere to avoid maintaining dictionary mappings and to have readable values
* log when the FCU advances to next mission item without satisfying the position reached offset/radius
* some renaming for readability
* log more state value changes (connected and MAV_STATUS)
 2018-01-17 17:54:32 -05:00
Anthony Lamping
d375880c4b improve mavros SITL tests (#8652) 
-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
 2018-01-14 21:13:45 -05:00
Daniel Agar
3f67ddbdba ROS mission_test.py send mission before starting 
- update to latest sitl_gazebo
 2018-01-02 01:35:57 +01:00
Anthony Lamping
f46db40b10 make sure FCU is connected to mavros before state topic is marked ready 2018-01-02 01:35:57 +01:00
Anthony Lamping
ab5a268ca5 simplify vtol transition check, more log msgs 2018-01-02 01:35:57 +01:00
Anthony Lamping
f9e7c66718 thread for offboard publishers, add asserts for topics to come up (simulation ready) and set mode and arming, use home_position topic as better indicator of when the simulation is ready, add more feedback to rosinfo, make timeouts meaningful (in seconds), add land and extended state values 2018-01-02 01:35:57 +01:00
Anthony Lamping
5ce381dfc7 update sitl tests 2018-01-02 01:35:57 +01:00
Paul Riseborough
40160c4488 integrationtests: add wait time before arming to allow checks to pass 2017-05-03 08:37:14 +02:00
Daniel Agar
6f89e9d551 integrationtests mavros fix type 2017-04-20 11:18:32 -04:00
James Goppert
8e297022e6 Update px4tools api for mission test. 2017-01-14 18:55:39 -05:00
Sander Smeets
2c78e9de5d DroneKit IT: use new QGC json format 2016-12-28 11:47:52 +01:00
Sander Smeets
53be474191 Simplify dronekit mode change 2016-12-28 11:47:52 +01:00
Sander Smeets
05fda0c0fe Fix test mission index 2016-12-28 01:19:28 +01:00
James Goppert
8fdd392700 Added ground truth tests to sitl gazebo CI. 2016-12-26 16:33:37 +01:00