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FlightSoftware

Build Status Coverage Status

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

Running tests with Docker (FlightSoftware)

docker build -t fsw .
docker run fsw ./tools/run_desktop_flight_tests.sh
docker run fsw ./tools/run_common_software_tests.sh
docker run fsw ./tools/run_ground_tests.sh
docker run fsw ./tools/verify_adcs_builds.sh
docker run fsw ./tools/verify_teensy_builds.sh

See the "Tools" directory to see how to run tests locally without Docker, and for many other useful items.

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_teeny35_hitl_leader -t upload (for HITL testing with a Teensy 3.5)
pio run -e fsw_teeny36_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.