SIH-SITL integration tests

.github/workflows/sitl_sih_tests.yml

@@ -0,0 +1,153 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
+name: SITL Tests using SIH
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    name: Testing PX4 ${{ matrix.config.model }}
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {model: "quadx",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "xvert" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Git Ownership Workaround
+        run: git config --system --add safe.directory '*'
+
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+
+      - name: Cache Key Config
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+
+      - name: Cache Conf Config
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z
+
+      - name: Build PX4
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default
+
+      - name: Cache Post-Run [px4_sitl_default]
+        run: ccache -s
+
+      - name: Build SITL Gazebo
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default sitl_gazebo-classic
+
+      - name: Cache Post-Run [sitl_gazebo-classic]
+        run: ccache -s
+
+      - name: Download MAVSDK
+        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Install MAVSDK
+        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Check PX4 Environment Variables
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: |
+            export
+            ulimit -a
+
+      - name: Build PX4 / MAVSDK tests
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          DONT_RUN: 1
+        run: make px4_sitl_default gazebo mavsdk_tests
+
+      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
+        run: ccache -s
+
+      - name: Core Dump Settings
+        run: |
+            ulimit -c unlimited
+            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+      - name: Run SITL / MAVSDK Tests
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 1 --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl_sih.json --verbose
+        timeout-minutes: 45
+
+      - name: Upload failed logs
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: failed-${{matrix.config.model}}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+
+      - name: Look at Core files
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+
+      - name: Upload PX4 coredump
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: coredump
+          path: px4.core
+
+      - name: Setup & Generate Coverage Report
+        if: contains(matrix.config.build_type, 'Coverage')
+        run: |
+            git config --global credential.helper "" # disable the keychain credential helper
+            git config --global --add credential.helper store # enable the local store credential helper
+            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+            git config --global url."https://github.com/".insteadof [email protected]: # credentials add credential
+            mkdir -p coverage
+            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+
+      - name: Upload Coverage Information to Codecov
+        if: contains(matrix.config.build_type, 'Coverage')
+        uses: codecov/codecov-action@v4
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: mavsdk
+          file: coverage/lcov.info

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -29,6 +29,12 @@ param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
+# again follows from CA_* params. remove redundancy sometime
+param set-default SIH_L_PITCH 1  # = CA_ROTOR0_PX
+param set-default SIH_L_ROLL 1   # = CA_ROTOR0_PY
+param set-default SIH_T_MAX 6.5 # = default value of CA_ROTOR0_CT
+param set-default SIH_Q_MAX 0.325 # = CA_ROTOR0_KM * SIH_T_MAX
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -17,6 +17,7 @@ param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
 
 param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
@@ -37,7 +38,10 @@ param set-default SIH_IYY 0.000625
 param set-default SIH_IZZ 0.00300
 param set-default SIH_IXZ 0
 param set-default SIH_KDV 0.2
-param set-default SIH_L_ROLL 0.145
+
+# SIH_L_ROLL = CA_ROTOR0_PX. this is redundant, should in future use CA rotor
+# geometry info in sih...
+param set-default SIH_L_ROLL 1
 
 # sih as tailsitter
 param set-default SIH_VEHICLE_TYPE 2

ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol

@@ -61,9 +61,9 @@ param set-default CA_SV_CS1_TYPE 3  # elevator
 param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4  # rudder
 
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 10
-param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -81,8 +81,35 @@ param set-default MAV_TYPE 22
 
 param set-default SENS_DPRES_OFF 0.001
 
+
+#
+# # gazebo model:
+# # https://github.com/PX4/PX4-gazebo-models/blob/main/models/standard_vtol/model.sdf
+# # notes about gazebo models:
+# # https://github.com/mvernacc/gazebo_motor_model_docs/blob/master/notes.pdf
+#
+# # max thrust = maxRotVelocity**2 * motorConstant
+# param set SIH_T_MAX 45
+#
+# # max torque = ??
+# param set SIH_Q_MAX 0.0165
+#
+# # = base_link mass (rest irrelevant)
+# param set SIH_MASS 5
+#
+# param set SIH_IXX 0.4777
+# param set SIH_IYY 0.3417
+# param set SIH_IZZ 0.8110
+# param set SIH_IXZ 0
+#
+# param set SIH_KDV 0.2
+#
+# param set SIH_T_MAX 6.5
+# param set SIH_MASS 0.65
+
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
+
 param set SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set SIH_IXX 0.00354

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -36,11 +36,16 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		then
 			sensor_mag_sim start
 		fi
+		if param compare -s SENS_EN_ARSPDSIM 1
+		then
+			sensor_airspeed_sim start
+		fi
 		if param compare -s SENS_EN_AGPSIM 1
 		then
 			sensor_agp_sim start
 		fi
 
+
 	else
 		echo "ERROR [init] simulator_sih failed to start"
 		exit 1

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -75,7 +75,10 @@ param set SIH_IYY 0.000625
 param set SIH_IZZ 0.00300
 param set SIH_IXZ 0
 param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
+
+# SIH_L_ROLL = CA_ROTOR0_PX. this is redundant, should in future use CA rotor
+# geometry info in sih...
+param set SIH_L_ROLL 1
 
 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2

src/modules/sensors/data_validator/DataValidator.cpp

@@ -44,6 +44,11 @@
 #include <px4_platform_common/log.h>
 #include <drivers/drv_hrt.h>
 
+DataValidator::DataValidator() :
+	ModuleParams(nullptr)
+{
+}
+
 void DataValidator::put(uint64_t timestamp, float val, uint32_t error_count_in, uint8_t priority_in)
 {
 	float data[dimensions] = {val};  // sets the first value and all others to 0
@@ -99,6 +104,16 @@ void DataValidator::put(uint64_t timestamp, const float val[dimensions], uint32_
 
 float DataValidator::confidence(uint64_t timestamp)
 {
+	// Check if parameters have changed
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+
+		updateParams();
+		_noise_scale = _sih_noise_scale.get();
+	}
+
 
 	float ret = 1.0f;
 
@@ -112,8 +127,12 @@ float DataValidator::confidence(uint64_t timestamp)
 		_error_mask |= ERROR_FLAG_TIMEOUT;
 		ret = 0.0f;
 
-	} else if (_value_equal_count > _value_equal_count_threshold) {
-		/* we got the exact same sensor value N times in a row */
+	} else if (_value_equal_count > _value_equal_count_threshold && !(fabsf(_noise_scale) < 0.000001f)) {
+		/*
+		we got the exact same sensor value N times in a row
+		If SIH noise scale is very low, constant sensor data are to be expected. In that case, don't
+		reject it as stale.
+		*/
 		_error_mask |= ERROR_FLAG_STALE_DATA;
 		ret = 0.0f;
 

src/modules/sensors/data_validator/DataValidator.hpp

@@ -44,12 +44,22 @@
 #include <math.h>
 #include <stdint.h>
 
-class DataValidator
+#include <px4_platform_common/module_params.h>
+
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+
+using namespace time_literals;
+
+
+
+class DataValidator : public ModuleParams
 {
 public:
 	static const unsigned dimensions = 3;
 
-	DataValidator() = default;
+
+	DataValidator();
 	~DataValidator() = default;
 
 	/**
@@ -182,6 +192,8 @@ class DataValidator
 	float _rms[dimensions] {};  /**< root mean square error */
 	float _value[dimensions] {}; /**< last value */
 
+	float _noise_scale{1.};
+
 	unsigned _value_equal_count{0}; /**< equal values in a row */
 	unsigned _value_equal_count_threshold{
 		VALUE_EQUAL_COUNT_DEFAULT}; /**< when to consider an equal count as a problem */
@@ -197,4 +209,13 @@ class DataValidator
 	/* we don't want this class to be copied */
 	DataValidator(const DataValidator &) = delete;
 	DataValidator operator=(const DataValidator &) = delete;
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SIH_NOISE_SCALE>) _sih_noise_scale
+	)
+
+
+
 };