test coverage cleanup

- dataman clean exit code
 - unit test proper cleanup
 - add some level of simulated sensors for tests
 - delete unused test/standard_vtol

Makefile

@@ -290,7 +290,7 @@ tests_coverage:
 	@$(call PX4_RUN,$(MAKE) --no-print-directory tests PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 HEADLESS=1)
 	@$(call PX4_RUN,lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info)
 	@$(call PX4_RUN,lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' --quiet --output-file coverage.info)
-	@$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info )
+	@$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info)
 
 test_startup_shutdown:
 	@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_test gazebo_standard_vtol HEADLESS=1 MEMORY_DEBUG=1)

posix-configs/SITL/init/test/standard_vtol

@@ -1,131 +0,0 @@
-uorb start
-param load
-param set MAV_TYPE 22
-param set VT_TYPE 2
-param set VT_MOT_COUNT 4
-param set VT_TRANS_THR 0.75
-param set SYS_AUTOSTART 13006
-param set SYS_RESTART_TYPE 2
-param set SYS_MC_EST_GROUP 2
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.2
-param set MC_PITCH_P 6
-param set MC_ROLL_P 6
-param set MPC_XY_P 0.8
-param set MPC_ACC_HOR_MAX 2.0
-param set MPC_XY_VEL_P 0.15
-param set MPC_XY_VEL_I 0.2
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_FF 0.1
-param set MPC_Z_VEL_MAX 1.5
-param set MPC_Z_VEL_P 0.6
-param set MPC_Z_VEL_I 0.15
-param set FW_AIRSPD_MIN 14
-param set FW_AIRSPD_TRIM 16
-param set FW_AIRSPD_MAX 25
-param set SENS_BOARD_ROT 0
-param set SENS_DPRES_OFF 0.001
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set NAV_ACC_RAD 5.0
-param set NAV_LOITER_RAD 80
-param set MPC_TKO_SPEED 1.0
-param set MIS_LTRMIN_ALT 10
-param set MIS_TAKEOFF_ALT 10
-param set MIS_YAW_TMT 10
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set COM_DISARM_LAND 2
-param set MPC_ACC_HOR_MAX 2
-param set EKF2_GBIAS_INIT 0.01
-param set EKF2_ANGERR_INIT 0.01
-param set EKF2_MAG_TYPE 1
-simulator start -s
-rgbledsim start
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-adcsim start
-gpssim start
-measairspeedsim start
-pwm_out_sim mode_pwm
-sleep 1
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-ekf2 start
-vtol_att_control start
-mc_pos_control start
-mc_att_control start
-fw_pos_control_l1 start
-fw_att_control start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
-mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-logger start -e -t
-mavlink boot_complete
-ver all
-
-sleep 13
-commander takeoff
-sleep 2
-commander land
-sleep 5
-
-listener vehicle_status
-
-logger stop
-mavlink stop-all
-vtol_att_control stop
-mc_pos_control stop
-mc_att_control stop
-fw_pos_control_l1 stop
-fw_att_control stop
-
-commander stop
-navigator stop
-land_detector stop
-ekf2 stop
-sensors stop
-
-rgbledsim stop
-tone_alarm stop
-gyrosim stop
-accelsim stop
-barosim stop
-adcsim stop
-gpssim stop
-measairspeedsim stop
-
-dataman stop
-
-shutdown

posix-configs/SITL/init/test/test_template.in

@@ -8,14 +8,16 @@ dataman start
 rgbledsim start
 tone_alarm start
 
-#simulator start -s
+simulator start -t
-#gyrosim start
+gyrosim start
-#accelsim start
+accelsim start
-#barosim start
+barosim start
 
-#adcsim start
+adcsim start
-#gpssim start
+gpssim start
-#pwm_out_sim mode_pwm
+pwm_out_sim mode_pwm
+
+ver all
 
 mavlink start -u 14556 -r 2000000
 

src/modules/dataman/dataman.c

@@ -1275,5 +1275,5 @@ dataman_main(int argc, char *argv[])
 		return -1;
 	}
 
-	return 1;
+	return 0;
 }

src/modules/unit_test/unit_test.h

@@ -70,6 +70,7 @@ public:
 		test_class* test = new test_class();	\
 		bool success = test->run_tests();	\
 		test->print_results();			\
+		delete test;				\
 		return success;				\
 	}