From 7538ea44e3b154f092a3704c1931a2ab2de29576 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 18 Apr 2018 23:32:36 -0400
Subject: [PATCH] Jenkins add VTOL tiltrotor mission test
---
Jenkinsfile | 33 +++++++++++++++++++++++++-
posix-configs/SITL/init/ekf2/tiltrotor | 18 +++++++++++++-
2 files changed, 49 insertions(+), 2 deletions(-)
diff --git a/Jenkinsfile b/Jenkinsfile
index 69e43d8ea5..dd005f9fb6 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -240,7 +240,7 @@ pipeline {
}
}
- stage('ROS vtol standard mission new 1') {
+ stage('ROS vtol standard mission') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-03-30'
@@ -302,6 +302,37 @@ pipeline {
}
}
+ stage('ROS vtol tiltrotor mission') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros:2018-03-30'
+ args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+ }
+ }
+ steps {
+ sh 'export'
+ sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+ sh 'git fetch --tags'
+ sh 'make posix_sitl_default'
+ sh 'make posix_sitl_default sitl_gazebo'
+ sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
+ sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+ }
+ post {
+ always {
+ sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+ archiveArtifacts '.ros/**/*.pdf'
+ archiveArtifacts '.ros/**/*.csv'
+ sh 'make distclean'
+ }
+ failure {
+ archiveArtifacts '.ros/**/*.ulg'
+ archiveArtifacts '.ros/**/rosunit-*.xml'
+ archiveArtifacts '.ros/**/rostest-*.log'
+ }
+ }
+ }
+
stage('ROS vtol mission new 2') {
agent {
docker {
diff --git a/posix-configs/SITL/init/ekf2/tiltrotor b/posix-configs/SITL/init/ekf2/tiltrotor
index c12a1ab49e..568897823c 100644
--- a/posix-configs/SITL/init/ekf2/tiltrotor
+++ b/posix-configs/SITL/init/ekf2/tiltrotor
@@ -1,7 +1,9 @@
uorb start
param load
dataman start
+
param set BAT_N_CELLS 3
+
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_XSCALE 1.01
@@ -15,24 +17,31 @@ param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
+
param set COM_DISARM_LAND 5
param set COM_RC_IN_MODE 1
+
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
+
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
+
param set MAV_TYPE 21
+
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
+
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
+
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_TKO_SPEED 1.0
@@ -43,24 +52,31 @@ param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
+
param set NAV_ACC_RAD 5.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
+
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
+
param set SDLOG_DIRS_MAX 7
+
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
-param set SYS_AUTOSTART 13006
+
+param set SYS_AUTOSTART 13012
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
+
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
param set VT_TYPE 1
param set VT_TILT_FW 3.1415
param set VT_TILT_TRANS 1.2
+
replay tryapplyparams
simulator start -s
tone_alarm start
--
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