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Jenkinsfile-hardware
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Jenkinsfile-hardware
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#!/usr/bin/env groovy
pipeline {
agent none
stages {
stage('Hardware Test') {
parallel {
stage("cubepilot_cubeorange_test") {
stages {
stage("build cubepilot_cubeorange_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make cubepilot_cubeorange_bootloader'
sh 'make cubepilot_cubeorange_test'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'cubepilot_cubeorange'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'cubepilot_cubeorange_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
// run tests
runTests()
// load all airframes
// sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
checkStatus()
quickCalibrate()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
}
}
} // stage test
}
}
stage("cuav_x7pro_test") {
stages {
stage("build cuav_x7pro_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make cuav_x7pro_bootloader'
sh 'make cuav_x7pro_test'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'cuav_x7pro'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'cuav_x7pro_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
runTests()
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
checkStatus()
quickCalibrate()
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
}
}
} // stage test
}
}
stage("px4_fmu-v3_test") {
stages {
stage("build px4_fmu-v3_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make px4_fmu-v3_test'
sh 'make px4_fmu-v3_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'px4_fmu-v3'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v3_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
runTests()
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
checkStatus()
quickCalibrate()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
}
}
} // stage test
}
}
stage("px4_fmu-v4_test") {
stages {
stage("build px4_fmu-v4_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make px4_fmu-v4_test'
sh 'make px4_fmu-v4_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'px4_fmu-v4'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v4_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
runTests()
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
checkStatus()
quickCalibrate()
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
}
}
} // stage test
}
}
stage("px4_fmu-v4pro_test") {
stages {
stage("build px4_fmu-v4pro_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make px4_fmu-v4pro_test'
sh 'make px4_fmu-v4pro_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'px4_fmu-v4pro'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v4pro_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
runTests()
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
checkStatus()
quickCalibrate()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
}
}
} // stage test
}
}
stage("px4_fmu-v5_debug") {
stages {
stage("build px4_fmu-v5_debug") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make px4_fmu-v5_debug'
sh 'make px4_fmu-v5_debug bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'px4_fmu-v5'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_debug'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
resetBoard()
}
}
stage("tests") {
steps {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
// test dataman
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
checkStatus()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
}
}
} // stage test
}
}
stage("px4_fmu-v5_stackcheck") {
stages {
stage("build px4_fmu-v5_stackcheck") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make px4_fmu-v5_stackcheck'
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'px4_fmu-v5'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_stackcheck'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
// test dataman
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
checkStatus()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
}
}
} // stage test
}
}
stage("px4_fmu-v5_test") {
stages {
stage("build px4_fmu-v5_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make px4_fmu-v5_test'
sh 'make px4_fmu-v5_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'px4_fmu-v5'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_test'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
runTests()
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
checkStatus()
quickCalibrate()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
}
}
} // stage test
}
}
stage("nxp_fmuk66-v3_test") {
stages {
stage("build nxp_fmuk66-v3_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
checkoutSCM()
sh 'make nxp_fmuk66-v3_test'
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
} // stage build
stage("hardware") {
agent {
label 'nxp_fmuk66-v3'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'nxp_fmuk66-v3_test'
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
resetBoard()
}
}
stage("tests") {
steps {
runTests()
}
}
stage("status") {
steps {
// configure
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
checkStatus()
quickCalibrate()
}
}
stage("print topics") {
steps {
printTopics()
}
}
}
post {
always {
sh 'cat /tmp/pyserial_spy_file.txt || true'
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
}
}
} // stage test
}
}
} // parallel
} // stage Hardware Test
} // stages
environment {
CCACHE_DIR = '/tmp/ccache'
CCACHE_NOHASHDIR = 1
CI = true
}
options {
buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
timeout(time: 180, unit: 'MINUTES')
skipDefaultCheckout()
}
}
void checkoutSCM() {
retry(3) {
checkout scm
sh 'export'
sh 'make distclean; git clean -ff -x -d .'
sh 'git fetch --tags'
sh 'ccache -z'
}
}
void quickCalibrate() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
}
void checkStatus() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
// run logger
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
// status commands
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
// stop logger
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
}
void resetParameters() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
}
void runTests() {
// test loading a range of airframes
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
resetParameters()
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
// tests (stop modules first)
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
}
void printTopics() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
// these are for casually inspecting the system, output failure doesn't matter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
}
void resetBoard() {
resetParameters()
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
}