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
PX4 · Aug 17, 2018 · e356fd8 · e356fd8
1 parent 5acb9df
commit e356fd8
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Showing 10 changed files with 144 additions and 510 deletions.
diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
@@ -42,27 +42,16 @@ pipeline {
         script {
           def missions = [
             [
-              name: "VTOL standard",
-              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",
+              name: "FW",
               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
@@ -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
@@ -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/...rc/px4_it/mavros/missions/vtol_new_2.plan → .../px4_it/mavros/missions/FW_mission_1.plan b/...rc/px4_it/mavros/missions/vtol_new_2.plan → .../px4_it/mavros/missions/FW_mission_1.plan
@@ -1,6 +1,11 @@
 {
     "fileType": "Plan",
     "geoFence": {
+        "circles": [
+        ],
+        "polygons": [
+        ],
+        "version": 2
     },
     "groundStation": "QGroundControl",
     "mission": {
@@ -10,26 +15,26 @@
         "items": [
             {
                 "AMSLAltAboveTerrain": null,
-                "Altitude": 12,
+                "Altitude": 50,
                 "AltitudeMode": 0,
                 "autoContinue": true,
-                "command": 84,
+                "command": 22,
                 "doJumpId": 1,
                 "frame": 3,
                 "params": [
                     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
+                    47.39602683906673,
+                    8.539868609985234,
+                    50
                 ],
                 "type": "SimpleItem"
             },
             {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 50,
-                "AltitudeMode": 0,
                 "autoContinue": true,
-                "command": 16,
+                "command": 189,
                 "doJumpId": 3,
-                "frame": 3,
+                "frame": 2,
                 "params": [
                     0,
                     0,
                     0,
-                    null,
-                    47.39995383332046,
-                    8.54783592762601,
-                    50
+                    0,
+                    0,
+                    0,
+                    0
                 ],
                 "type": "SimpleItem"
             },
             {
                 "AMSLAltAboveTerrain": null,
-                "Altitude": 20,
+                "Altitude": 25,
                 "AltitudeMode": 0,
                 "autoContinue": true,
-                "command": 16,
+                "command": 31,
                 "doJumpId": 4,
                 "frame": 3,
                 "params": [
+                    1,
+                    50,
                     0,
-                    0,
-                    0,
-                    null,
-                    47.39998472464772,
-                    8.544660189638307,
-                    20
+                    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
 }