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Jenkins add VTOL tiltrotor mission test #9333

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merged 1 commit into from
Apr 19, 2018
Merged

Jenkins add VTOL tiltrotor mission test #9333

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33 changes: 32 additions & 1 deletion Jenkinsfile
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Original file line number Diff line number Diff line change
Expand Up @@ -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'
Expand Down Expand Up @@ -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 {
Expand Down
18 changes: 17 additions & 1 deletion posix-configs/SITL/init/ekf2/tiltrotor
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Original file line number Diff line number Diff line change
@@ -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
Expand All @@ -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
Expand All @@ -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
Expand Down