FlightSoftware

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.