mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
4f62355dec
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change) - this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc - for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
1034 lines
53 KiB
Groovy
1034 lines
53 KiB
Groovy
#!/usr/bin/env groovy
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pipeline {
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agent none
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stages {
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stage('Hardware Test') {
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parallel {
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stage("px4_fmu-v2_test") {
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stages {
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stage("build px4_fmu-v2_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v2_test'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'px4_fmu-v2'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'px4_fmu-v2_test'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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}
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}
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}
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stage("px4_fmu-v3_default") {
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stages {
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stage("build px4_fmu-v3_default") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v3_default'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'px4_fmu-v3'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'px4_fmu-v3_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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}
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}
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stage("tests") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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} // stage test
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}
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}
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stage("px4_fmu-v4_default") {
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stages {
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stage("build px4_fmu-v4_default") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v4_default'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'px4_fmu-v4'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'px4_fmu-v4_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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}
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}
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stage("tests") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
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}
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}
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stage("reset") {
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steps {
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|
cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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} // stage test
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}
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}
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stage("px4_fmu-v4pro_default") {
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stages {
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stage("build px4_fmu-v4pro_default") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v4pro_default'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'px4_fmu-v4pro'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'px4_fmu-v4pro_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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}
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}
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stage("tests") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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} // stage test
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}
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}
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stage("px4_fmu-v5_default") {
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stages {
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stage("build px4_fmu-v5_default") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v5_default'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'px4_fmu-v5'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'px4_fmu-v5_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
|
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}
|
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stage("configure") {
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steps {
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|
// configure
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|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
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}
|
|
}
|
|
stage("status") {
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|
steps {
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|
statusFTDI()
|
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}
|
|
}
|
|
stage("tests") {
|
|
steps {
|
|
// run tests
|
|
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
|
}
|
|
}
|
|
stage("reset") {
|
|
steps {
|
|
cleanupFTDI();
|
|
}
|
|
}
|
|
}
|
|
options {
|
|
timeout(time: 90, unit: 'MINUTES')
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}
|
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} // stage test
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}
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}
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|
stage("px4_fmu-v5_debug") {
|
|
stages {
|
|
stage("build px4_fmu-v5_debug") {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'make distclean'
|
|
sh 'ccache -s'
|
|
sh 'git fetch --tags'
|
|
sh 'make px4_fmu-v5_debug'
|
|
sh 'make sizes'
|
|
sh 'ccache -s'
|
|
stash includes: 'build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf', name: 'px4_fmu-v5_debug'
|
|
}
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|
post {
|
|
always {
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|
sh 'make distclean'
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|
}
|
|
}
|
|
} // stage build
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|
stage("test") {
|
|
agent {
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|
label 'px4_fmu-v5'
|
|
}
|
|
stages {
|
|
stage("flash") {
|
|
steps {
|
|
sh 'export'
|
|
sh 'find /dev/serial'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
|
|
unstash 'px4_fmu-v5_debug'
|
|
// 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-FTDI_*` --baudrate 57600'
|
|
}
|
|
}
|
|
stage("configure") {
|
|
steps {
|
|
// configure
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
|
}
|
|
}
|
|
stage("status") {
|
|
steps {
|
|
statusFTDI()
|
|
}
|
|
}
|
|
stage("tests") {
|
|
steps {
|
|
// run tests
|
|
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
|
}
|
|
}
|
|
stage("reset") {
|
|
steps {
|
|
cleanupFTDI();
|
|
}
|
|
}
|
|
}
|
|
options {
|
|
timeout(time: 90, unit: 'MINUTES')
|
|
}
|
|
} // stage test
|
|
}
|
|
}
|
|
|
|
stage("px4_fmu-v5_optimized") {
|
|
stages {
|
|
stage("build px4_fmu-v5_optimized") {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'make distclean'
|
|
sh 'ccache -s'
|
|
sh 'git fetch --tags'
|
|
sh 'make px4_fmu-v5_optimized'
|
|
sh 'make sizes'
|
|
sh 'ccache -s'
|
|
stash includes: 'build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf', name: 'px4_fmu-v5_optimized'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
} // stage build
|
|
stage("test") {
|
|
agent {
|
|
label 'px4_fmu-v5'
|
|
}
|
|
stages {
|
|
stage("flash") {
|
|
steps {
|
|
sh 'export'
|
|
sh 'find /dev/serial'
|
|
unstash 'px4_fmu-v5_optimized'
|
|
// flash board and watch bootup
|
|
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
|
}
|
|
}
|
|
stage("configure") {
|
|
steps {
|
|
// configure
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
|
}
|
|
}
|
|
stage("status") {
|
|
steps {
|
|
statusFTDI()
|
|
}
|
|
}
|
|
stage("tests") {
|
|
steps {
|
|
// run tests
|
|
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
|
}
|
|
}
|
|
stage("reset") {
|
|
steps {
|
|
cleanupFTDI();
|
|
}
|
|
}
|
|
}
|
|
options {
|
|
timeout(time: 90, unit: 'MINUTES')
|
|
}
|
|
} // stage test
|
|
}
|
|
}
|
|
|
|
stage("px4_fmu-v5_stackcheck") {
|
|
stages {
|
|
stage("build px4_fmu-v5_stackcheck") {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'make distclean'
|
|
sh 'ccache -s'
|
|
sh 'git fetch --tags'
|
|
sh 'make px4_fmu-v5_stackcheck'
|
|
sh 'make sizes'
|
|
sh 'ccache -s'
|
|
stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
} // stage build
|
|
stage("test") {
|
|
agent {
|
|
label 'px4_fmu-v5'
|
|
}
|
|
stages {
|
|
stage("flash") {
|
|
steps {
|
|
sh 'export'
|
|
sh 'find /dev/serial'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
|
|
unstash 'px4_fmu-v5_stackcheck'
|
|
// 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-FTDI_*` --baudrate 57600'
|
|
}
|
|
}
|
|
stage("configure") {
|
|
steps {
|
|
// configure
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
|
}
|
|
}
|
|
stage("status") {
|
|
steps {
|
|
statusFTDI()
|
|
}
|
|
}
|
|
stage("tests") {
|
|
steps {
|
|
// run tests
|
|
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
|
}
|
|
}
|
|
stage("reset") {
|
|
steps {
|
|
cleanupFTDI();
|
|
}
|
|
}
|
|
}
|
|
options {
|
|
timeout(time: 90, unit: 'MINUTES')
|
|
}
|
|
} // stage test
|
|
}
|
|
}
|
|
|
|
stage("modalai_fc-v1_default") {
|
|
stages {
|
|
stage("build modalai_fc-v1_default") {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'make distclean'
|
|
sh 'ccache -s'
|
|
sh 'git fetch --tags'
|
|
sh 'make modalai_fc-v1_default'
|
|
sh 'make sizes'
|
|
sh 'ccache -s'
|
|
stash includes: 'build/modalai_fc-v1_default/modalai_fc-v1_default.elf', name: 'modalai_fc-v1_default'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
} // stage build
|
|
stage("test") {
|
|
agent {
|
|
label 'modalai_fc-v1'
|
|
}
|
|
stages {
|
|
stage("flash") {
|
|
steps {
|
|
sh 'export'
|
|
sh 'find /dev/serial'
|
|
unstash 'modalai_fc-v1_default'
|
|
// flash board and watch bootup
|
|
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
|
|
}
|
|
}
|
|
stage("configure") {
|
|
steps {
|
|
// configure
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true' // reboot to apply
|
|
}
|
|
}
|
|
stage("status") {
|
|
steps {
|
|
statusSEGGER()
|
|
}
|
|
}
|
|
stage("tests") {
|
|
steps {
|
|
// run tests
|
|
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-SEGGER_*`'
|
|
}
|
|
}
|
|
stage("reset") {
|
|
steps {
|
|
cleanupSEGGER()
|
|
}
|
|
}
|
|
}
|
|
options {
|
|
timeout(time: 90, unit: 'MINUTES')
|
|
}
|
|
} // stage test
|
|
}
|
|
}
|
|
|
|
stage("holybro_durandal-v1_default") {
|
|
stages {
|
|
stage("build holybro_durandal-v1_default") {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'make distclean'
|
|
sh 'ccache -s'
|
|
sh 'git fetch --tags'
|
|
sh 'make holybro_durandal-v1_default'
|
|
sh 'make sizes'
|
|
sh 'ccache -s'
|
|
stash includes: 'build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf', name: 'holybro_durandal-v1_default'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
} // stage build
|
|
stage("test") {
|
|
agent {
|
|
label 'holybro_durandal-v1'
|
|
}
|
|
stages {
|
|
stage("flash") {
|
|
steps {
|
|
sh 'export'
|
|
sh 'find /dev/serial'
|
|
unstash 'holybro_durandal-v1_default'
|
|
// flash board and watch bootup
|
|
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
|
}
|
|
}
|
|
stage("configure") {
|
|
steps {
|
|
// configure
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
|
}
|
|
}
|
|
stage("status") {
|
|
steps {
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dshot status"'
|
|
statusFTDI()
|
|
}
|
|
}
|
|
stage("tests") {
|
|
steps {
|
|
// run tests
|
|
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
|
}
|
|
}
|
|
stage("reset") {
|
|
steps {
|
|
cleanupFTDI();
|
|
}
|
|
}
|
|
}
|
|
options {
|
|
timeout(time: 90, unit: 'MINUTES')
|
|
}
|
|
} // stage test
|
|
}
|
|
}
|
|
|
|
stage("nxp_fmuk66-v3_default") {
|
|
stages {
|
|
stage("build nxp_fmuk66-v3_default") {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'make distclean'
|
|
sh 'ccache -s'
|
|
sh 'git fetch --tags'
|
|
sh 'make nxp_fmuk66-v3_default'
|
|
sh 'make sizes'
|
|
sh 'ccache -s'
|
|
stash includes: 'build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf', name: 'nxp_fmuk66-v3_default'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
} // stage build
|
|
stage("test") {
|
|
agent {
|
|
label 'nxp_fmuk66-v3'
|
|
}
|
|
stages {
|
|
stage("flash") {
|
|
steps {
|
|
sh 'export'
|
|
sh 'find /dev/serial'
|
|
unstash 'nxp_fmuk66-v3_default'
|
|
// flash board and watch bootup
|
|
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
|
}
|
|
}
|
|
stage("configure") {
|
|
steps {
|
|
// configure
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
|
}
|
|
}
|
|
stage("status") {
|
|
steps {
|
|
statusFTDI()
|
|
}
|
|
}
|
|
stage("tests") {
|
|
steps {
|
|
// run tests
|
|
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // allow failure due to intermittent serial console issues
|
|
}
|
|
}
|
|
stage("reset") {
|
|
steps {
|
|
cleanupFTDI();
|
|
}
|
|
}
|
|
}
|
|
options {
|
|
timeout(time: 90, unit: 'MINUTES')
|
|
}
|
|
} // stage test
|
|
}
|
|
}
|
|
|
|
} // parallel
|
|
} // stage Hardware Test
|
|
} // stages
|
|
environment {
|
|
CCACHE_DIR = '/tmp/ccache'
|
|
CI = true
|
|
}
|
|
options {
|
|
buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
|
|
timeout(time: 90, unit: 'MINUTES')
|
|
}
|
|
}
|
|
|
|
void statusFTDI() {
|
|
// run logger
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
|
|
// status commands
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_baro"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_combined"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_fifo"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensors_status_imu"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener px4io_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_air_data"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_acceleration"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_velocity"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_attitude"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_local_position"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_magnetometer"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /etc"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "cat /proc/meminfo"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "cat /proc/uptime"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output0"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output1"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm_out status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload; top once; listener cpuload"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
|
|
// stop logger
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
|
|
}
|
|
|
|
void statusSEGGER() {
|
|
// run logger
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
|
|
// status commands
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_baro"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_combined"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_fifo"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensors_status_imu"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener px4io_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_air_data"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_acceleration"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_velocity"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_attitude"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu_status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_local_position"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_magnetometer"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /dev"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /etc"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /obj"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /proc"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "cat /proc/meminfo"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "cat /proc/uptime"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "perf latency"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "perf"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ps"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm info -d /dev/pwm_output0"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm info -d /dev/pwm_output1"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm_out status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "px4io status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sd_bench -r 2"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sensors status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload; top once; listener cpuload"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
|
|
// stop logger
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
|
|
}
|
|
|
|
void cleanupFTDI() {
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
|
|
|
|
// wipe sdcard
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "umount /fs/microsd"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'
|
|
|
|
// drop any uncommited hardfaults
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log rearm"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log reset"'
|
|
|
|
// erase mtd
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd readtest"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd rwtest"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd erase"'
|
|
|
|
// disable buzzer and cleanup storage
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param reset_all"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SDLOG_DIRS_MAX 1"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
|
|
|
|
// reboot
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'
|
|
}
|
|
|
|
void cleanupSEGGER() {
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
|
|
|
|
// wipe sdcard
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "umount /fs/microsd"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mkfatfs /dev/mmcsd0"'
|
|
|
|
// drop any uncommited hardfaults
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log rearm"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log reset"'
|
|
|
|
// erase mtd
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd readtest"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd rwtest"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd erase"'
|
|
|
|
// disable buzzer and cleanup storage
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset_all"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SDLOG_DIRS_MAX 1"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
|
|
|
|
// reboot
|
|
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'
|
|
}
|