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
fix(lpe): remove stale comment referencing deleted fault_table.py
2026-05-26 12:10:06 +08:00 · 2026-03-18 01:11:10 -08:00 · 2026-03-18 01:11:03 -08:00 · 2026-03-18 01:10:49 -08:00 · 2026-03-18 01:10:42 -08:00
16 changed files with 0 additions and 1661 deletions
@@ -1,268 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Analysis') {
-      when {
-        anyOf {
-          branch 'main'
-          branch 'master' // should be removed, but in case there is something going on...
-          branch 'pr-jenkins' // for testing
-        }
-      }
-      parallel {
-
-        stage('Airframe') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
-            sh 'make airframe_metadata'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
-              stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('Parameter') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
-            sh 'make parameters_metadata'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
-              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('Module') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
-            sh 'make module_documentation'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'modules/*.md')
-              stash includes: 'modules/*.md', name: 'metadata_module_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('msg file docs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
-            dir('build') {
-              archiveArtifacts(artifacts: 'msg_docs/*.md')
-              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-            echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            git checkout 4.0.15;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            cd ..;
-            . ./_emscripten_sdk/emsdk_env.sh;
-            git fetch --all --tags;
-            make failsafe_web;
-            cd build/px4_sitl_default_failsafe_web;
-            mkdir -p failsafe_sim;
-            cp index.* parameters.json failsafe_sim;
-            '''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('uORB graphs') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
-            sh 'make uorb_graphs'
-            dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_*.json')
-              stash includes: 'graph_*.json', name: 'uorb_graph'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-      } // parallel
-    } // stage: Generate Metadata
-
-    stage('Deploy') {
-
-      parallel {
-
-        stage('Userguide') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            unstash 'metadata_module_documentation'
-            unstash 'msg_documentation'
-            unstash 'failsafe_sim'
-            unstash 'uorb_graph'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
-              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
-              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
-              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd PX4-user_guide; git push origin main || true')
-              sh('rm -rf PX4-user_guide')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
-        stage('QGroundControl') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/mavlink/qgroundcontrol.git')
-              sh('cp airframes.xml qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml')
-              sh('cp parameters.xml qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml')
-              sh('cd qgroundcontrol; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd qgroundcontrol; git push origin master || true')
-              sh('rm -rf qgroundcontrol')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
-        stage('S3') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            sh('ls')
-            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
-      } // parallel
-    } // stage: Generate Metadata
-
-  } // stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-    GIT_AUTHOR_EMAIL = "bot@px4.io"
-    GIT_AUTHOR_NAME = "PX4BuildBot"
-    GIT_COMMITTER_EMAIL = "bot@px4.io"
-    GIT_COMMITTER_NAME = "PX4BuildBot"
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 90, unit: 'MINUTES')
-  }
-}
@@ -1,58 +0,0 @@
-clear all;
-close all;
-
-% Measurement data
-% 1045 propeller
-% Robbe Roxxy Motor (1100 kV, data collected in 2010)
-data = [ 45, 7.4;...
-         38, 5.6;...
-         33, 4.3;...
-         26, 3.0;...
-         18, 2.0;...
-         10, 1.0 ];
-
-% Normalize the data, as we're operating later
-% anyways in normalized units
-data(:,1) = data(:,1) ./ max(data(:,1));
-data(:,2) = data(:,2) ./ max(data(:,2));
-
-% Fit a 2nd degree polygon to the data and
-% print the x2, x1, x0 coefficients
-p = polyfit(data(:,2), data(:,1),2)
-
-% Override the first coffefficient for testing
-% purposes
-pf = 0.62;
-
-% Generate plotting data
-px1 = linspace(0, max(data(:,2)));
-py1 = polyval(p, px1);
-
-pyt = zeros(size(data, 1), 1);
-corr = zeros(size(data, 1), 1);
-
-% Actual code test
-% the two lines below are the ones needed to be ported to C:
-%   pf: Power factor parameter.
-%   px1(i): The current normalized motor command (-1..1)
-%   corr(i): The required correction. The motor speed is:
-%            px1(i) 
-for i=1:size(px1, 2)
-    
-    % The actual output throttle
-    pyt(i) = -pf * (px1(i) * px1(i)) + (1 + pf) * px1(i);
-    
-    % Solve for input throttle
-    % y = -p * x^2 + (1+p) * x;
-    % 
-end
-
-plot(data(:,2), data(:,1), '*r');
-hold on;
-plot(px1, py1, '*b');
-hold on;
-plot([0 px1(end)], [0 py1(end)], '-k');
-hold on;
-plot(px1, pyt, '-b');
-hold on;
-plot(px1, corr, '-m');
@@ -1,77 +0,0 @@
-%
-% Tool for plotting mag data
-%
-% Reference values:
-% telem> [cal] mag #0 off: x:0.15    y:0.07     z:0.14 Ga
-%                  MATLAB: x:0.1581  y: 0.0701  z: 0.1439 Ga
-% telem> [cal] mag #0 scale: x:1.10 y:0.97 z:1.02
-%                  MATLAB: 0.5499, 0.5190, 0.4907
-%
-% telem> [cal] mag #1 off: x:-0.18    y:0.11    z:-0.09 Ga
-%                  MATLAB: x:-0.1827  y:0.1147  z:-0.0848 Ga
-% telem> [cal] mag #1 scale: x:1.00 y:1.00 z:1.00
-%                  MATLAB: 0.5122, 0.5065, 0.4915
-%
-%
-% User-guided values:
-%
-% telem> [cal] mag #0 off: x:0.12 y:0.09 z:0.14 Ga
-% telem> [cal] mag #0 scale: x:0.88 y:0.99 z:0.95
-% telem> [cal] mag #1 off: x:-0.18 y:0.11 z:-0.09 Ga
-% telem> [cal] mag #1 scale: x:1.00 y:1.00 z:1.00
-
-close all;
-clear all;
-
-plot_scale = 0.8;
-
-xmax = plot_scale;
-xmin = -xmax;
-ymax = plot_scale;
-ymin = -ymax;
-zmax = plot_scale;
-zmin = -zmax;
-
-mag0_raw = load('../../mag0_raw3.csv');
-mag1_raw = load('../../mag1_raw3.csv');
-
-mag0_cal = load('../../mag0_cal3.csv');
-mag1_cal = load('../../mag1_cal3.csv');
-
-fm0r = figure();
-
-mag0_x_scale = 0.88;
-mag0_y_scale = 0.99;
-mag0_z_scale = 0.95;
-
-plot3(mag0_raw(:,1), mag0_raw(:,2), mag0_raw(:,3), '*r');
-[mag0_raw_center, mag0_raw_radii, evecs, pars ] = ellipsoid_fit( [mag0_raw(:,1) mag0_raw(:,2) mag0_raw(:,3)] );
-mag0_raw_center
-mag0_raw_radii
-axis([xmin xmax ymin ymax zmin zmax])
-viscircles([mag0_raw_center(1), mag0_raw_center(2)], [mag0_raw_radii(1)]);
-
-fm1r = figure();
-plot3(mag1_raw(:,1), mag1_raw(:,2), mag1_raw(:,3), '*r');
-[center, radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) mag1_raw(:,2) mag1_raw(:,3)] );
-center
-radii
-axis([xmin xmax ymin ymax zmin zmax])
-
-fm0c = figure();
-plot3(mag0_cal(:,1) .* mag0_x_scale, mag0_cal(:,2) .* mag0_y_scale, mag0_cal(:,3) .* mag0_z_scale, '*b');
-[mag0_cal_center, mag0_cal_radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) .* mag0_x_scale mag1_raw(:,2) .* mag0_y_scale mag1_raw(:,3) .* mag0_z_scale] );
-mag0_cal_center
-mag0_cal_radii
-axis([xmin xmax ymin ymax zmin zmax])
-viscircles([0, 0], [mag0_cal_radii(3)]);
-
-fm1c = figure();
-plot3(mag1_cal(:,1), mag1_cal(:,2), mag1_cal(:,3), '*b');
-axis([xmin xmax ymin ymax zmin zmax])
-[center, radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) mag1_raw(:,2) mag1_raw(:,3)] );
-viscircles([0, 0], [radii(3)]);
-
-mag0_x_scale_matlab = 1 / (mag0_cal_radii(1) / mag0_raw_radii(1))
-mag0_y_scale_matlab = 1 / (mag0_cal_radii(2) / mag0_raw_radii(2))
-mag0_z_scale_matlab = 1 / (mag0_cal_radii(3) / mag0_raw_radii(3))
@@ -1,23 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<vehicle_configs>
-	<vehicle class="multirotor" rotors="4" geometry="x" propeller_diameter="8" weight="1.0" id="4010">
-		<title>Standard 8" Prop Quadrotor (x)</title>
-		<short_desc>Standard quadrotor configuration in x configuration for 8-" propellers</short_desc>
-		<mixer>/etc/mixers/quad_x.main.mix</mixer>
-	</vehicle>
-	<vehicle class="multirotor" rotors="4" geometry="+" propeller_diameter="8" weight="1.0" id="5001">
-		<title>Standard 8" Prop Quadrotor (+)</title>
-		<short_desc>Standard quadrotor configuration in + configuration for 8-" propellers</short_desc>
-		<mixer>/etc/mixers/quad_+.main.mix</mixer>
-	</vehicle>
-	<vehicle class="multirotor" rotors="4" geometry="x" propeller_diameter="10" weight="1.5" id="4011">
-		<title>Standard 8" Prop Quadrotor (x)</title>
-		<short_desc>Standard quadrotor configuration in x configuration for 8-" propellers</short_desc>
-		<mixer>/etc/mixers/quad_x.main.mix</mixer>
-	</vehicle>
-	<vehicle class="fixed_wing" wingspan="0.85" elevons="yes" ailerons="no" rudder="no" weight="1.5" id="3033">
-		<title>Zeta Science Wing Wing Z-84</title>
-		<short_desc>Configuration for a small flying wing.</short_desc>
-		<mixer>/etc/mixers/wingwing.main.mix</mixer>
-	</vehicle>
-</vehicle_configs>
@@ -1,110 +0,0 @@
-"""
-Copyright (c) 2017, Sensirion AG
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* 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.
-
-* Neither the name of Sensirion AG 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 HOLDER 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.
-"""
-
-
-
-# formula for metal pitot tube with round tip as here: https://drotek.com/shop/2986-large_default/sdp3x-airspeed-sensor-kit-sdp31.jpg
-# and tubing as provided by px4/drotek (1.5 mm diameter)
-
-
-
-import numpy as np
-import matplotlib.pyplot as plt
-
-P_cal=96600. #Pa
-P_amb=96600. #dummy-value, use absolute pressure sensor!!
-
-
-## differential pressure, sensor values in Pascal
-dp_SDP33_raw=np.linspace(0,80,100)
-
-
-
-
-dp_SDP33=dp_SDP33_raw*P_cal/P_amb
-
-
-## total length tube in mm = length dynamic port+ length static port; compensation only valid for inner diameter of 1.5mm
-l_tube=450
-
-## densitiy air in kg/m3
-rho_air=1.29
-
-
-## flow through sensor
-flow_SDP33=(300.805 - 300.878/(0.00344205*dp_SDP33**0.68698 + 1))*1.29/rho_air
-
-
-
-## additional dp through pitot tube
-dp_Pitot=(0.0032*flow_SDP33**2 + 0.0123*flow_SDP33+1.)*1.29/rho_air
-
-## pressure drop through tube
-dp_Tube=(flow_SDP33*0.674)/450*l_tube*rho_air/1.29
-
-## speed at pitot-tube tip due to flow through sensor
-dv=0.125*flow_SDP33
-
-## sum of all pressure drops
-dp_tot=dp_SDP33+dp_Tube+dp_Pitot
-
-
-## computed airspeed without correction for inflow-speed at tip of pitot-tube
-airspeed_uncorrected=np.sqrt(2*dp_tot/rho_air)
-
-## corrected airspeed
-airspeed_corrected=airspeed_uncorrected+dv
-
-
-## just to compare to value without compensation
-airspeed_raw=np.sqrt(2*dp_SDP33/rho_air)
-
-
-plt.figure()
-plt.plot(dp_SDP33,airspeed_corrected)
-plt.xlabel('differential pressure raw value [Pa]')
-plt.ylabel('airspeed_corrected [m/s]')
-plt.show()
-
-
-
-##plt.figure()
-##plt.plot(dp_SDP33,airspeed_corrected/airspeed_raw)
-##plt.xlabel('differential pressure raw value [Pa]')
-##plt.ylabel('correction factor [-]')
-##plt.show()
-##
-##
-##
-##plt.figure()
-##plt.plot(airspeed_corrected,(airspeed_corrected-airspeed_raw)/airspeed_corrected)
-##plt.xlabel('airspeed [m/s]')
-##plt.ylabel('relative error [-]')
-##plt.show()
@@ -1,251 +0,0 @@
-#!/usr/bin/perl -w
-# avstack.pl: AVR stack checker
-# Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
-#
-# Permission to use, copy, modify, and/or distribute this software for
-# any purpose with or without fee is hereby granted, provided that the
-# above copyright notice and this permission notice appear in all
-# copies.
-#
-# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
-# WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
-# AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
-# DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
-# PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
-# TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
-# PERFORMANCE OF THIS SOFTWARE.
-#
-# Usage
-# -----
-#
-# This script requires that you compile your code with -fstack-usage.
-# This results in GCC generating a .su file for each .o file. Once you
-# have these, do:
-#
-#    ./avstack.pl <object files>
-#
-# This will disassemble .o files to construct a call graph, and read
-# frame size information from .su. The call graph is traced to find, for
-# each function:
-#
-#    - Call height: the maximum call height of any callee, plus 1
-#      (defined to be 1 for any function which has no callees).
-#
-#    - Inherited frame: the maximum *inherited* frame of any callee, plus
-#      the GCC-calculated frame size of the function in question.
-#
-# Using these two pieces of information, we calculate a cost (estimated
-# peak stack usage) for calling the function. Functions are then listed
-# on stdout in decreasing order of cost.
-#
-# Functions which are recursive are marked with an 'R' to the left of
-# them. Their cost is calculated for a single level of recursion.
-#
-# The peak stack usage of your entire program can usually be estimated
-# as the stack cost of "main", plus the maximum stack cost of any
-# interrupt handler which might execute.
-
-use strict;
-
-# Configuration: set these as appropriate for your architecture/project.
-
-my $objdump = "arm-none-eabi-objdump";
-my $call_cost = 4;
-
-# First, we need to read all object and corresponding .su files. We're
-# gathering a mapping of functions to callees and functions to frame
-# sizes. We're just parsing at this stage -- callee name resolution
-# comes later.
-
-my %frame_size;     # "func@file" -> size
-my %call_graph;     # "func@file" -> {callees}
-my %addresses;      # "addr@file" -> "func@file"
-
-my %global_name;    # "func" -> "func@file"
-my %ambiguous;      # "func" -> 1
-
-foreach (@ARGV) {
-    # Disassemble this object file to obtain a callees. Sources in the
-    # call graph are named "func@file". Targets in the call graph are
-    # named either "offset@file" or "funcname". We also keep a list of
-    # the addresses and names of each function we encounter.
-    my $objfile = $_;
-    my $source;
-
-    open(DISASSEMBLY, "$objdump -dr $objfile|") ||
-	die "Can't disassemble $objfile";
-    while (<DISASSEMBLY>) {
-	chomp;
-
-	if (/^([0-9a-fA-F]+) <(.*)>:/) {
-	    my $a = $1;
-	    my $name = $2;
-
-	    $source = "$name\@$objfile";
-	    $call_graph{$source} = {};
-	    $ambiguous{$name} = 1 if defined($global_name{$name});
-	    $global_name{$name} = "$name\@$objfile";
-
-	    $a =~ s/^0*//;
-	    $addresses{"$a\@$objfile"} = "$name\@$objfile";
-	}
-
-	if (/: R_[A-Za-z0-9_]+_CALL[ \t]+(.*)/) {
-	    my $t = $1;
-
-	    if ($t eq ".text") {
-		$t = "\@$objfile";
-	    } elsif ($t =~ /^\.text\+0x(.*)$/) {
-		$t = "$1\@$objfile";
-	    }
-
-	    $call_graph{$source}->{$t} = 1;
-	}
-    }
-    close(DISASSEMBLY);
-
-    # Extract frame sizes from the corresponding .su file.
-    if ($objfile =~ /^(.*).obj$/) {
-	my $sufile = "$1.su";
-
-	open(SUFILE, "<$sufile") || die "Can't open $sufile";
-	while (<SUFILE>) {
-	    $frame_size{"$1\@$objfile"} = $2 + $call_cost
-		if /^.*:([^\t ]+)[ \t]+([0-9]+)/;
-	}
-	close(SUFILE);
-    }
-}
-
-# In this step, we enumerate each list of callees in the call graph and
-# try to resolve the symbols. We omit ones we can't resolve, but keep a
-# set of them anyway.
-
-my %unresolved;
-
-foreach (keys %call_graph) {
-    my $from = $_;
-    my $callees = $call_graph{$from};
-    my %resolved;
-
-    foreach (keys %$callees) {
-	my $t = $_;
-
-	if (defined($addresses{$t})) {
-	    $resolved{$addresses{$t}} = 1;
-	} elsif (defined($global_name{$t})) {
-	    $resolved{$global_name{$t}} = 1;
-	    warn "Ambiguous resolution: $t" if defined ($ambiguous{$t});
-	} elsif (defined($call_graph{$t})) {
-	    $resolved{$t} = 1;
-	} else {
-	    $unresolved{$t} = 1;
-	}
-    }
-
-    $call_graph{$from} = \%resolved;
-}
-
-# Create fake edges and nodes to account for dynamic behaviour.
-$call_graph{"INTERRUPT"} = {};
-
-foreach (keys %call_graph) {
-    $call_graph{"INTERRUPT"}->{$_} = 1 if /^__vector_/;
-}
-
-# Trace the call graph and calculate, for each function:
-#
-#    - inherited frames: maximum inherited frame of callees, plus own
-#      frame size.
-#    - height: maximum height of callees, plus one.
-#    - recursion: is the function called recursively (including indirect
-#      recursion)?
-
-my %has_caller;
-my %visited;
-my %total_cost;
-my %call_depth;
-
-sub trace {
-    my $f = shift;
-
-    if ($visited{$f}) {
-	$visited{$f} = "R" if $visited{$f} eq "?";
-	return;
-    }
-
-    $visited{$f} = "?";
-
-    my $max_depth = 0;
-    my $max_frame = 0;
-
-    my $targets = $call_graph{$f} || die "Unknown function: $f";
-    if (defined($targets)) {
-	foreach (keys %$targets) {
-	    my $t = $_;
-
-	    $has_caller{$t} = 1;
-	    trace($t);
-
-	    my $is = $total_cost{$t};
-	    my $d = $call_depth{$t};
-
-	    $max_frame = $is if $is > $max_frame;
-	    $max_depth = $d if $d > $max_depth;
-	}
-    }
-
-    $call_depth{$f} = $max_depth + 1;
-    $total_cost{$f} = $max_frame + ($frame_size{$f} || 0);
-    $visited{$f} = " " if $visited{$f} eq "?";
-}
-
-foreach (keys %call_graph) { trace $_; }
-
-# Now, print results in a nice table.
-printf "  %-30s %8s %8s %8s\n",
-    "Func", "Cost", "Frame", "Height";
-print "------------------------------------";
-print "------------------------------------\n";
-
-my $max_iv = 0;
-my $main = 0;
-
-foreach (sort { $total_cost{$b} <=> $total_cost{$a} } keys %visited) {
-    my $name = $_;
-
-    if (/^(.*)@(.*)$/) {
-	$name = $1 unless $ambiguous{$name};
-    }
-
-    my $tag = $visited{$_};
-    my $cost = $total_cost{$_};
-
-    $name = $_ if $ambiguous{$name};
-    $tag = ">" unless $has_caller{$_};
-
-    if (/^__vector_/) {
-	$max_iv = $cost if $cost > $max_iv;
-    } elsif (/^main@/) {
-	$main = $cost;
-    }
-
-    if ($ambiguous{$name}) { $name = $_; }
-
-    printf "%s %-30s %8d %8d %8d\n", $tag, $name, $cost,
-	$frame_size{$_} || 0, $call_depth{$_};
-}
-
-print "\n";
-
-print "Peak execution estimate (main + worst-case IV):\n";
-printf "  main = %d, worst IV = %d, total = %d\n",
-      $total_cost{$global_name{"main"}},
-      $total_cost{"INTERRUPT"},
-      $total_cost{$global_name{"main"}} + $total_cost{"INTERRUPT"};
-
-print "\n";
-
-print "The following functions were not resolved:\n";
-foreach (keys %unresolved) { print "  $_\n"; }
@@ -1,55 +0,0 @@
-import serial, time
-
-
-port = serial.Serial('/dev/ttyACM0', baudrate=57600, timeout=2)
-
-data = '01234567890123456789012345678901234567890123456789'
-#data = 'hellohello'
-outLine = 'echo %s\n' % data
-
-port.write('\n\n\n')
-port.write('free\n')
-line = port.readline(80)
-while line != '':
-    print(line)
-    line = port.readline(80)
-    
-
-i = 0
-bytesOut = 0
-bytesIn = 0
-
-startTime = time.time()
-lastPrint = startTime
-while True:
-    bytesOut += port.write(outLine)
-    line = port.readline(80)
-    bytesIn += len(line)
-    # check command line echo
-    if (data not in line):
-        print('command error %d: %s' % (i,line))
-        #break
-    # read echo output
-    line = port.readline(80)
-    if (data not in line):
-        print('echo output error %d: %s' % (i,line))
-        #break
-    bytesIn += len(line)
-    #print('%d: %s' % (i,line))
-    #print('%d: bytesOut: %d, bytesIn: %d' % (i, bytesOut, bytesIn))
-    
-    elapsedT = time.time() - lastPrint
-    if (time.time() - lastPrint >= 5):
-        outRate = bytesOut / elapsedT
-        inRate = bytesIn / elapsedT
-        usbRate = (bytesOut + bytesIn) / elapsedT
-        lastPrint = time.time()
-        print('elapsed time: %f' % (time.time() - startTime))
-        print('data rates (bytes/sec): out: %f, in: %f, total: %f' % (outRate, inRate, usbRate))
-        
-        bytesOut = 0
-        bytesIn = 0
-        
-    i += 1    
-    #if (i > 2): break
-    
@@ -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)
@@ -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"
-}
@@ -1 +0,0 @@
-TODO: Adopt to new SITL
@@ -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
@@ -1,168 +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
-
-from px4.msg import manual_control_setpoint
-from px4.msg import offboard_control_mode
-from mav_msgs.msg import CommandAttitudeThrust
-from std_msgs.msg import Header
-
-#
-# Manual input control helper
-#
-class ManualInput(object):
-
-    def __init__(self):
-        rospy.init_node('test_node', anonymous=True)
-        self.pub_mcsp = rospy.Publisher('manual_control_setpoint', manual_control_setpoint, queue_size=10)
-        self.pub_off = rospy.Publisher('offboard_control_mode', offboard_control_mode, queue_size=10)
-
-    def arm(self):
-        rate = rospy.Rate(10) # 10hz
-
-        att = CommandAttitudeThrust()
-        att.header = Header()
-
-        pos = manual_control_setpoint()
-        pos.x = 0
-        pos.z = 0
-        pos.y = 0
-        pos.r = 0
-        pos.mode_switch = 3
-        pos.return_switch = 3
-        pos.posctl_switch = 3
-        pos.loiter_switch = 3
-        pos.acro_switch = 0
-        pos.offboard_switch = 3
-
-        count = 0
-        while not rospy.is_shutdown() and count < 5:
-            rospy.loginfo("zeroing")
-            time = rospy.get_rostime().now()
-            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pub_mcsp.publish(pos)
-            rate.sleep()
-            count = count + 1
-
-        pos.r = 1
-        count = 0
-        while not rospy.is_shutdown() and count < 5:
-            rospy.loginfo("arming")
-            time = rospy.get_rostime().now()
-            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pub_mcsp.publish(pos)
-            rate.sleep()
-            count = count + 1
-
-    def posctl(self):
-        rate = rospy.Rate(10) # 10hz
-
-        # triggers posctl
-        pos = manual_control_setpoint()
-        pos.x = 0
-        pos.z = 0
-        pos.y = 0
-        pos.r = 0
-        pos.mode_switch = 2
-        pos.return_switch = 3
-        pos.posctl_switch = 1
-        pos.loiter_switch = 3
-        pos.acro_switch = 0
-        pos.offboard_switch = 3
-
-        count = 0
-        while not rospy.is_shutdown() and count < 5:
-            rospy.loginfo("triggering posctl")
-            time = rospy.get_rostime().now()
-            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pub_mcsp.publish(pos)
-            rate.sleep()
-            count = count + 1
-
-
-    def offboard_attctl(self):
-        self.offboard(False, False, True, True, True, True)
-
-    def offboard_posctl(self):
-        self.offboard(False, False, True, False, True, True)
-
-    # Trigger offboard and set offboard control mode before
-    def offboard(self, ignore_thrust=False, ignore_attitude=False, ignore_bodyrate=True,
-                        ignore_position=False, ignore_velocity=True, ignore_acceleration_force=True):
-        rate = rospy.Rate(10) # 10hz
-
-        mode = offboard_control_mode()
-        mode.ignore_thrust = ignore_thrust
-        mode.ignore_attitude = ignore_attitude
-        mode.ignore_bodyrate_x = ignore_bodyrate
-        mode.ignore_bodyrate_y = ignore_bodyrate
-        mode.ignore_bodyrate_z = ignore_bodyrate
-        mode.ignore_position = ignore_position
-        mode.ignore_velocity = ignore_velocity
-        mode.ignore_acceleration_force = ignore_acceleration_force
-
-        count = 0
-        while not rospy.is_shutdown() and count < 5:
-            rospy.loginfo("setting offboard mode")
-            time = rospy.get_rostime().now()
-            mode.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pub_off.publish(mode)
-            rate.sleep()
-            count = count + 1
-
-        # triggers offboard
-        pos = manual_control_setpoint()
-        pos.x = 0
-        pos.z = 0
-        pos.y = 0
-        pos.r = 0
-        pos.mode_switch = 3
-        pos.return_switch = 3
-        pos.posctl_switch = 3
-        pos.loiter_switch = 3
-        pos.acro_switch = 0
-        pos.offboard_switch = 1
-
-        count = 0
-        while not rospy.is_shutdown() and count < 5:
-            rospy.loginfo("triggering offboard")
-            time = rospy.get_rostime().now()
-            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
-            self.pub_mcsp.publish(pos)
-            rate.sleep()
-            count = count + 1
@@ -1,110 +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>
-#
-PKG = 'px4'
-
-import unittest
-import rospy
-import rosbag
-
-from px4.msg import vehicle_local_position
-from px4.msg import vehicle_attitude_setpoint
-from px4.msg import vehicle_attitude
-from px4.msg import vehicle_local_position_setpoint
-
-from threading import Condition
-
-#
-# Test helper
-#
-class PX4TestHelper(object):
-
-    def __init__(self, test_name):
-        self.test_name = test_name
-
-    def setUp(self):
-        self.condition = Condition()
-        self.closed = False
-
-        rospy.init_node('test_node', anonymous=True)
-        self.bag = rosbag.Bag(self.test_name + '.bag', 'w', compression="lz4")
-
-        self.sub_vlp = rospy.Subscriber("iris/vehicle_local_position",
-                vehicle_local_position, self.vehicle_position_callback)
-        self.sub_vasp = rospy.Subscriber("iris/vehicle_attitude_setpoint",
-                vehicle_attitude_setpoint, self.vehicle_attitude_setpoint_callback)
-        self.sub_va = rospy.Subscriber("iris/vehicle_attitude",
-                vehicle_attitude, self.vehicle_attitude_callback)
-        self.sub_vlps = rospy.Subscriber("iris/vehicle_local_position_setpoint",
-                vehicle_local_position_setpoint, self.vehicle_local_position_setpoint_callback)
-
-
-    def tearDown(self):
-        try:
-            self.condition.acquire()
-            self.closed = True
-
-            self.sub_vlp.unregister()
-            self.sub_vasp.unregister()
-            self.sub_va.unregister()
-            self.sub_vlps.unregister()
-            self.bag.close()
-
-        finally:
-            self.condition.release()
-
-    def vehicle_position_callback(self, data):
-        self.bag_write('px4/vehicle_local_position', data)
-
-    def vehicle_attitude_setpoint_callback(self, data):
-        self.bag_write('px4/vehicle_attitude_setpoint', data)
-
-    def vehicle_attitude_callback(self, data):
-        self.bag_write('px4/vehicle_attitude', data)
-
-    def vehicle_local_position_setpoint_callback(self, data):
-        self.bag_write('px4/vehicle_local_position_setpoint', data)
-
-    def bag_write(self, topic, data):
-        try:
-            self.condition.acquire()
-            if not self.closed:
-                self.bag.write(topic, data)
-            else:
-                rospy.logwarn("Trying to write to bag but it's already closed")
-        finally:
-            self.condition.release()
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-rm -rf build
-
-(mkdir -p build && cd build && CXX=g++ cmake .. && make -j8 && time $@ ./test/lockstep_scheduler_test)
-rm -rf build
-
-(mkdir -p build && cd build && CXX=clang++ cmake .. && make -j8 && time $@ ./test/lockstep_scheduler_test)
-rm -rf build
@@ -49,7 +49,6 @@ static const size_t N_DIST_SUBS = 4;

 // for fault detection
 // chi squared distribution, false alarm probability 0.0001
-// see fault_table.py
 // note skip 0 index so we can use degree of freedom as index
 static const float BETA_TABLE[7] = {0,
 				    8.82050518214,
@@ -1,13 +0,0 @@
-#!/usr/bin/env python
-from __future__ import print_function
-import pylab as pl
-import scipy.optimize
-from scipy.stats import chi2
-
-for fa_rate in 1.0/pl.array([1e1, 1e2, 1e4, 1e6, 1e9]):
-    print(fa_rate)
-    for df in range(1,7):
-        f_eq = lambda x: ((1- fa_rate) - chi2.cdf(x, df))**2
-        res = scipy.optimize.minimize(f_eq, df)
-        assert res['success']
-        print('\t', res.x[0])
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	47c8c53745	fix(lpe): remove stale comment referencing deleted fault_table.py	2026-03-18 01:11:03 -08:00
Jacob Dahl	a3681de493	chore(ci): remove Jenkinsfile superseded by GitHub Actions All Jenkinsfile functions are now covered by GitHub Actions: - Metadata generation → docs-orchestrator.yml + metadata_sync.sh - PX4-user_guide deploy → in-repo docs/ + docs-orchestrator.yml - S3 upload → build_all_targets.yml artifacts job - QGC metadata push → already broken (no metadata commits) - uORB graphs → supported by metadata_sync.sh Co-authored-by: mrpollo <317648+mrpollo@users.noreply.github.com>	2026-03-18 01:10:49 -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