Skip to content

Add mission tests #616

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
1Blademaster merged 7 commits into from
Aug 18, 2025
Merged

Add mission tests #616

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
a013053
Clean up mission tests
1Blademaster Aug 17, 2025
effafdb
Merge branch 'release-alpha-0.1.10' into alpha-0.1.10/611-add-mission…
1Blademaster Aug 17, 2025
259a9c7
Fix bug with max slope gradient in missionStatistics
1Blademaster Aug 17, 2025
ad59a05
Add tests for getting specific missions
1Blademaster Aug 17, 2025
3354427
Add upload mission tests
1Blademaster Aug 17, 2025
30746a3
Add unit tests for MissionController functionality
1Blademaster Aug 17, 2025
156af48
Address copilot review comments
1Blademaster Aug 17, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion gcs/src/components/missions/missionStatistics.jsx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -213,7 +213,7 @@ export default function MissionStatistics({ missionItems }) {
value={maxSlopeGradient.maxGradient}
tooltip={
maxSlopeGradient.points &&
`Between ${maxSlopeGradient.points[0].seq} and ${maxSlopeGradient.points[1].seq}`
`Between ${maxSlopeGradient.points[0]?.seq} and ${maxSlopeGradient.points[1]?.seq}`
}
units="%"
/>
Expand Down
2 changes: 2 additions & 0 deletions radio/app/controllers/missionController.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -605,6 +605,8 @@ def uploadMission(
"success": False,
"message": "Could not upload mission, received mission acknowledgement error",
}
elif response.msgname == "MISSION_ACK" and response.type == 0:
continue # Continue to next iteration if we received a MISSION_ACK
elif response.mission_type == mission_type:
self.drone.logger.debug(
f"Sending mission item {response.seq} out of {new_loader.count()-1}"
Expand Down
15 changes: 15 additions & 0 deletions radio/tests/mission_test_files/default_fence.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
QGC WPL 110
0 1 0 16 0 0 0 0 52.7806539 -0.7083070 136.350000 1
1 0 3 5001 6.00000000 0.00000000 0.00000000 0.00000000 52.78146190 -0.71057081 0.000000 1
2 0 3 5001 6.00000000 0.00000000 0.00000000 0.00000000 52.78105306 -0.71029186 1.000000 1
3 0 3 5001 6.00000000 0.00000000 0.00000000 0.00000000 52.78003421 -0.71083903 2.000000 1
4 0 3 5001 6.00000000 0.00000000 0.00000000 0.00000000 52.78185126 -0.70354342 3.000000 1
5 0 3 5001 6.00000000 0.00000000 0.00000000 0.00000000 52.78305826 -0.70601106 4.000000 1
6 0 3 5001 6.00000000 0.00000000 0.00000000 0.00000000 52.78254562 -0.70815682 5.000000 1
7 0 3 5004 25.00000000 0.00000000 0.00000000 0.00000000 52.77965780 -0.70921630 0.000000 1
8 0 3 5003 50.00000000 0.00000000 0.00000000 0.00000000 52.78019000 -0.70440170 0.000000 1
9 0 3 5002 5.00000000 0.00000000 0.00000000 0.00000000 52.78282465 -0.70610762 0.000000 1
10 0 3 5002 5.00000000 0.00000000 0.00000000 0.00000000 52.78187073 -0.70415497 1.000000 1
11 0 3 5002 5.00000000 0.00000000 0.00000000 0.00000000 52.78144892 -0.70581794 2.000000 1
12 0 3 5002 5.00000000 0.00000000 0.00000000 0.00000000 52.78218871 -0.70580721 3.000000 1
13 0 3 5002 5.00000000 0.00000000 0.00000000 0.00000000 52.78263647 -0.70689082 4.000000 1
9 changes: 9 additions & 0 deletions radio/tests/mission_test_files/default_mission.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
QGC WPL 110
0 1 0 16 0 0 0 0 52.7806539 -0.7083070 136.350000 1
1 0 3 22 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 30.000000 1
2 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 52.78031970 -0.70979300 30.000000 1
3 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 52.78122830 -0.70989490 30.000000 1
4 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 52.78169880 -0.70795300 30.000000 1
5 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 52.78144240 -0.70571600 30.000000 1
6 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 52.78079670 -0.70659580 30.000000 1
7 0 3 21 0.00000000 0.00000000 0.00000000 0.00000000 52.78043980 -0.70819970 0.000000 1
4 changes: 4 additions & 0 deletions radio/tests/mission_test_files/default_rally.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
QGC WPL 110
0 1 0 16 0 0 0 0 52.7806539 -0.7083070 136.350000 1
1 0 3 5100 0.00000000 0.00000000 0.00000000 0.00000000 52.78100110 -0.70948720 10.000000 1
2 0 3 5100 0.00000000 0.00000000 0.00000000 0.00000000 52.78211080 -0.70567850 10.000000 1
240 changes: 240 additions & 0 deletions radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,240 @@
{
"success": true,
"mission_type": "fence",
"items": [
{
"autocontinue": 0,
"command": 5001,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 6.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 0,
"target_component": 0,
"target_system": 255,
"x": 527814618,
"y": -7105708,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5001,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 6.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 1,
"target_component": 0,
"target_system": 255,
"x": 527810530,
"y": -7102918,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5001,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 6.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 2,
"target_component": 0,
"target_system": 255,
"x": 527800342,
"y": -7108390,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5001,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 6.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 3,
"target_component": 0,
"target_system": 255,
"x": 527818512,
"y": -7035434,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5001,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 6.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 4,
"target_component": 0,
"target_system": 255,
"x": 527830582,
"y": -7060110,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5001,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 6.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 5,
"target_component": 0,
"target_system": 255,
"x": 527825456,
"y": -7081568,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5004,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 25.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 6,
"target_component": 0,
"target_system": 255,
"x": 527796578,
"y": -7092163,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5003,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 50.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 7,
"target_component": 0,
"target_system": 255,
"x": 527801900,
"y": -7044017,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5002,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 5.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 8,
"target_component": 0,
"target_system": 255,
"x": 527828246,
"y": -7061076,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5002,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 5.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 9,
"target_component": 0,
"target_system": 255,
"x": 527818707,
"y": -7041549,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5002,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 5.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 10,
"target_component": 0,
"target_system": 255,
"x": 527814489,
"y": -7058179,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5002,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 5.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 11,
"target_component": 0,
"target_system": 255,
"x": 527821887,
"y": -7058072,
"z": 0.0
},
{
"autocontinue": 0,
"command": 5002,
"current": 0,
"frame": 0,
"mavpackettype": "MISSION_ITEM_INT",
"mission_type": 1,
"param1": 5.0,
"param2": 0.0,
"param3": 0.0,
"param4": 0.0,
"seq": 12,
"target_component": 0,
"target_system": 255,
"x": 527826364,
"y": -7068908,
"z": 0.0
}
]
}
Loading
Loading