FlightSoftware

Repository for all flight software, ground software, and test infastructure for Pathfinder for Autonomous Navigation. PAN's simulation software lives in psim.

Building and compiling this repo

1. Clone the repository:

    git clone --recursive git@github.com:pathfinder-for-autonomous-navigation/FlightSoftware.git
    cd FlightSoftware
   

2. Create a virtual environment, install requirements, and install psim:

    python -m venv venv
    source venv/bin/activate
    pip install --upgrade pip wheel
    pip install -r requirements.txt
    pip install -e lib/common/psim
   

Locally running flight software unit tests (quickly)

pio test -e fsw_native_leader

You can modify the .ini files in configs/ to alter the pattern match against unit tests in order to run unit tests selectively.

Compiling and loading flight software for functional testing

Here are some possible options:

pio run -e fsw_native_leader                 (for HOOTL testing)
pio run -e fsw_teensy35_hitl_leader -t upload (for HITL testing with a Teensy 3.5)
pio run -e fsw_teensy36_hitl_leader -t upload (for HITL testing with a Teensy 3.6)
pio run -e fsw_flight_leader -t upload       (for HITL testing with pure flight code)

The binaries end up in .pio/build.

Running functional tests with ptest

Install ptest via the guide in the README in ptest, and then run from this directory, and with a virtual environment activated:

  python -m ptest runsim -c CONFIGFILE -t TESTCASE

Testing ADCS software

Check out configs/adcs.ini for a list of available environments.