mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-13 02:21:37 +08:00
Samuel Sadok
ee75ebac8c
The flight graph is stored as a series of delta elements at 1m resolution and a list of nodes. Both lists share the same buffer. Each delta element takes up 2 bytes or sometimes 6 bytes if the delta is large. The path can consist of multiple disconnected segments, in which case the gaps are stored as delta elements with a jump-bit set. Once in a while or when required the graph is consolidated, which means: - Points that lie roughly in a line are replaced by a single line - Points that lie close to previously recorded lines are pruned - For lines that pass close to each other a node element is created Furthermore: - The graph is recorded at a higher precision closer to home - If the graph becomes full, the overall precision is reduced and the whole graph is re-consolidated - If the graph becomes full once more, all data is removed except for the shortest path home at that moment. One of these actions is repeated at each subsequent fill-up. Path finding information is generated/refreshed on demand and stored in the nodes. During return-to-home, the best direction to home is continuously evaluated by using the information stored in the nodes. The graph recording and path finding is implemented in navigator/tracker.cpp. The graph based return-to-home is implemented in navigator/smart_rtl.cpp.
148 lines
3.9 KiB
CMake
148 lines
3.9 KiB
CMake
#=============================================================================
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# tests
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#
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# TODO: find a way to keep this in sync with tests_main
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set(tests
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atomic_bitset
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bezier
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bitset
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bson
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commander
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controllib
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conv
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dataman
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file2
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float
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hrt
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int
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IntrusiveQueue
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IntrusiveSortedList
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List
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mathlib
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matrix
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microbench_atomic
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microbench_hrt
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microbench_math
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microbench_matrix
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microbench_uorb
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mixer
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navigator
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param
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parameters
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perf
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rc
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search_min
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servo
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#sf0x
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sleep
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uorb
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versioning
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)
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if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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list(REMOVE_ITEM tests
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mixer
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uorb
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)
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endif()
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if (CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
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list(REMOVE_ITEM tests
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uorb
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)
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endif()
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foreach(test_name ${tests})
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set(test_name_prefix sitl-${test_name})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
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add_test(NAME ${test_name_prefix}
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
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set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
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sanitizer_fail_test_on_error(${test_name_prefix})
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endforeach()
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# Mavlink test requires mavlink running
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add_test(NAME sitl-mavlink
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_mavlink
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
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set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
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sanitizer_fail_test_on_error(sitl-mavlink)
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# A mystery why this fails on Cygwin currently.
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if(NOT CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
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# Shutdown test
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add_test(NAME sitl-shutdown
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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#set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
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set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
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sanitizer_fail_test_on_error(sitl-shutdown)
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endif()
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# Dynamic module loading test
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add_test(NAME dyn
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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none
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none
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test_dyn_hello
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none
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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$<TARGET_FILE:examples__dyn_hello>
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WORKING_DIRECTORY ${SITL_WORKING_DIR})
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set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
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sanitizer_fail_test_on_error(dyn)
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# run arbitrary commands
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set(test_cmds
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hrt_test
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cdev_test
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wqueue_test
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)
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foreach(cmd_name ${test_cmds})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)
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add_test(NAME posix_${cmd_name}
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COMMAND $<TARGET_FILE:px4>
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated
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-t ${PX4_SOURCE_DIR}/test_data
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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sanitizer_fail_test_on_error(posix_${cmd_name})
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set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
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endforeach()
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if(CMAKE_BUILD_TYPE STREQUAL Coverage)
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setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" tests)
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setup_target_for_coverage(generate_coverage "${CMAKE_COMMAND} -E echo" generic)
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# TODO:
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#setup_target_for_coverage(mavsdk_coverage "${PX4_SOURCE_DIR}/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --iterations 1 --fail-early" mavsdk)
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endif()
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