Modified sanity test to identify success from the output of the PX4 flight stack, instead of QuRT.

Tools/px4_snapflight_sanitytest.sh

@@ -49,8 +49,7 @@ declare -a appsproc_strings_absent=(
 
 # List of expected strings from the DSP
 declare -a dsp_strings_present=(
-   "AdspCoreSvc: Started successfully"
+    "EKF aligned"
-   "loading BLSP configuration"
    )
 
 # List of unexpected strings from the DSP
@@ -102,6 +101,10 @@ verifypx4test() {
       fi
    done
 
+   echo -e "Displaying the content of the minidm.log"
+   cat minidm.log
+   echo -e "Analyzing the log for success and failure indications."
+
    # verify the presence of expected stings in the DSP console log
    for lineString in "${dsp_strings_present[@]}"
    do
@@ -143,12 +146,16 @@ installpx4() {
    # Reboot the target before beginning the installation
    echo -e "Rebooting the target..."
    adb reboot
-   sleep 45
+   adb wait-for-devices
+   # Wait a bit longer after bootup, before copying binaries to the target.
+   sleep 30
+   adb devices
    
    echo -e "Now installing PX4 binaries..."
    # Copy binaries to the target
    if [ $mode == 0 ]; then
       # copy default binaries
+      echo -e "Copying the PX4 binaries from the eagle_default build tree..."
       adb push $workspace/build_qurt_eagle_default/src/firmware/qurt/libpx4.so /usr/share/data/adsp
       adb push $workspace/build_qurt_eagle_default/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
       adb push $workspace/build_posix_eagle_default/src/firmware/posix/px4 /home/linaro
@@ -156,12 +163,14 @@ installpx4() {
       adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
    elif [ $mode == 1 ]; then
       # copy legacy binaries
+      echo -e "Copying the PX4 binaries from the eagle_legacy build tree..."
       adb push $workspace/build_qurt_eagle_legacy/src/firmware/qurt/libpx4.so /usr/share/data/adsp
       adb push $workspace/build_qurt_eagle_legacy/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
       adb push $workspace/build_posix_eagle_legacy/src/firmware/posix/px4 /home/linaro
       adb push $workspace/posix-configs/eagle/200qx/px4.config /usr/share/data/adsp
       adb push $workspace/posix-configs/eagle/200qx/mainapp.config /home/linaro
    else
+      echo -e "Copying the PX4 binaries from the excelsior_legacy build tree..."
       adb push $workspace/build_qurt_excelsior_legacy/src/firmware/qurt/libpx4.so /usr/lib/rfsa/adsp
       adb push $workspace/build_qurt_excelsior_legacy/src/firmware/qurt/libpx4muorb_skel.so /usr/lib/rfsa/adsp
       adb push $workspace/build_posix_excelsior_legacy/src/firmware/posix/px4 /home/root
@@ -187,6 +196,7 @@ testpx4() {
    rm minidm.log | true
    
    # Start mini-dm
+   echo -e "Starting mini-dm..."
    ${minidmPath}/mini-dm > minidm.log &
    sleep 5
    # Verify that mini-dm is running
@@ -199,6 +209,7 @@ testpx4() {
 
    
    # Start PX4
+   echo -e "Starting PX4..."
    if [ $mode == 2 ]; then
       # 8x96 platform
       adb shell "/home/root/px4 /home/root/mainapp.config" > px4.log 2>&1 &