diff --git a/integrationtests/python_src/px4_it/mavros/mission_test.py b/integrationtests/python_src/px4_it/mavros/mission_test.py index 8b0df1742a..6cc9239b5e 100755 --- a/integrationtests/python_src/px4_it/mavros/mission_test.py +++ b/integrationtests/python_src/px4_it/mavros/mission_test.py @@ -50,7 +50,6 @@ import os import px4tools import sys from mavros import mavlink -from mavros.mission import QGroundControlWP from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached from mavros_test_common import MavrosTestCommon from pymavlink import mavutil @@ -71,26 +70,12 @@ def get_last_log(): def read_mission(mission_filename): wps = [] with open(mission_filename, 'r') as f: - mission_filename_ext = os.path.splitext(mission_filename)[1] - if mission_filename_ext == '.plan': - for waypoint in read_plan_file(f): - wps.append(waypoint) - rospy.logdebug(waypoint) - elif mission_filename_ext == '.mission': - for waypoint in read_mission_file(f): - wps.append(waypoint) - rospy.logdebug(waypoint) - elif mission_filename_ext == '.txt': - mission = QGroundControlWP() - for waypoint in mission.read(f): - wps.append(waypoint) - rospy.logdebug(waypoint) - else: - raise IOError("unknown mission file extension", - mission_filename_ext) + for waypoint in read_plan_file(f): + wps.append(waypoint) + rospy.logdebug(waypoint) # set first item to current - if wps[0]: + if wps: wps[0].is_current = True return wps @@ -122,27 +107,6 @@ def read_plan_file(f): else: raise IOError("no mission items") - -def read_mission_file(f): - d = json.load(f) - if 'items' in d: - for wp in d['items']: - yield Waypoint( - is_current=False, - frame=int(wp['frame']), - command=int(wp['command']), - param1=float(wp['param1']), - param2=float(wp['param2']), - param3=float(wp['param3']), - param4=float(wp['param4']), - x_lat=float(wp['coordinate'][0]), - y_long=float(wp['coordinate'][1]), - z_alt=float(wp['coordinate'][2]), - autocontinue=bool(wp['autoContinue'])) - else: - raise IOError("no mission items") - - class MavrosMissionTest(MavrosTestCommon): """ Run a mission diff --git a/integrationtests/python_src/px4_it/mavros/multirotor_box.mission b/integrationtests/python_src/px4_it/mavros/multirotor_box.mission deleted file mode 100644 index 5fdf7cdb5b..0000000000 --- a/integrationtests/python_src/px4_it/mavros/multirotor_box.mission +++ /dev/null @@ -1,121 +0,0 @@ -{ - "MAV_AUTOPILOT": 12, - "complexItems": [ - ], - "groundStation": "QGroundControl", - "items": [ - { - "autoContinue": true, - "command": 22, - "coordinate": [ - 47.397739410400391, - 8.5455904006958008, - 5 - ], - "frame": 3, - "id": 1, - "param1": 15, - "param2": 0, - "param3": 0, - "param4": 0, - "type": "missionItem" - }, - { - "autoContinue": true, - "command": 16, - "coordinate": [ - 47.397872924804688, - 8.54559326171875, - 5 - ], - "frame": 3, - "id": 2, - "param1": 0, - "param2": 0, - "param3": 0, - "param4": 0, - "type": "missionItem" - }, - { - "autoContinue": true, - "command": 16, - "coordinate": [ - 47.397872924804688, - 8.5453414916992188, - 5 - ], - "frame": 3, - "id": 3, - "param1": 0, - "param2": 0, - "param3": 0, - "param4": 0, - "type": "missionItem" - }, - { - "autoContinue": true, - "command": 16, - "coordinate": [ - 47.397739410400391, - 8.5453367233276367, - 5 - ], - "frame": 3, - "id": 4, - "param1": 0, - "param2": 0, - "param3": 0, - "param4": 0, - "type": "missionItem" - }, - { - "autoContinue": true, - "command": 16, - "coordinate": [ - 47.397739410400391, - 8.5455904006958008, - 5 - ], - "frame": 3, - "id": 5, - "param1": 0, - "param2": 0, - "param3": 0, - "param4": 0, - "type": "missionItem" - }, - { - "autoContinue": true, - "command": 21, - "coordinate": [ - 47.397739410400391, - 8.5455913543701172, - 5 - ], - "frame": 3, - "id": 6, - "param1": 0, - "param2": 0, - "param3": 0, - "param4": 0, - "type": "missionItem" - } - ], - "plannedHomePosition": { - "autoContinue": true, - "command": 16, - "coordinate": [ - 47.397806167602539, - 8.5454649925231934, - 0 - ], - "frame": 0, - "id": 0, - "param1": 0, - "param2": 0, - "param3": 0, - "param4": 0, - "type": "missionItem" - }, - "version": "1.0" -} diff --git a/integrationtests/python_src/px4_it/mavros/vtol_new_1.txt b/integrationtests/python_src/px4_it/mavros/vtol_new_1.txt deleted file mode 100644 index 8165e35bc6..0000000000 --- a/integrationtests/python_src/px4_it/mavros/vtol_new_1.txt +++ /dev/null @@ -1,4 +0,0 @@ -# New style transitions, takeoff not at home -QGC WPL 110 -0 1 3 84 15.0 0 0 0 47.397731862593744 8.543269295853861 15.0 1 -1 0 3 85 0.0 0.0 -0.0 0.0 47.39651890962795 8.5433217125134888 0.0 1 diff --git a/integrationtests/python_src/px4_it/mavros/vtol_new_2.txt b/integrationtests/python_src/px4_it/mavros/vtol_new_2.txt deleted file mode 100644 index 7d6908a986..0000000000 --- a/integrationtests/python_src/px4_it/mavros/vtol_new_2.txt +++ /dev/null @@ -1,5 +0,0 @@ -# New style transitions, takeoff at home -QGC WPL 110 -0 1 3 84 15.0 0 0 0 47.397746387399621 8.5455920888607579 12.0 1 -1 0 3 16 0.0 0.0 0.0 0.0 47.399093548895856 8.5455438069836305 12.0 1 -2 0 3 85 0.0 0.0 -0.0 0.0 47.39903545 8.5432263800000001 0.0 1 diff --git a/integrationtests/python_src/px4_it/mavros/vtol_old_1.txt b/integrationtests/python_src/px4_it/mavros/vtol_old_1.txt deleted file mode 100644 index 123423751d..0000000000 --- a/integrationtests/python_src/px4_it/mavros/vtol_old_1.txt +++ /dev/null @@ -1,8 +0,0 @@ -# Old style transitions, takeoff and landing WPs away from home and last WP -QGC WPL 110 -0 1 3 22 15.0 0 0 0 47.398046406687619 8.5458366721115908 12.0 1 -1 0 2 3000 4 0.0 0.0 0.0 47.398033142089844 8.5457897186279297 12.0 1 -2 0 3 16 0 0.0 0.0 0.0 47.399269104003906 8.5455722808837891 12.0 1 -3 0 3 16 0 0.0 0.0 0.0 47.399281145681528 8.547910568913295 12.0 1 -4 0 2 3000 3 0.0 0.0 0.0 47.397785186767578 8.545262336730957 12.0 1 -5 0 3 21 25.0 0.0 0.0 0.0 47.398884865088675 8.547918116539563 12.0 1 diff --git a/integrationtests/python_src/px4_it/mavros/vtol_old_2.txt b/integrationtests/python_src/px4_it/mavros/vtol_old_2.txt deleted file mode 100644 index d021eb9ddd..0000000000 --- a/integrationtests/python_src/px4_it/mavros/vtol_old_2.txt +++ /dev/null @@ -1,8 +0,0 @@ -# Old style transitions, takeoff WP at home location, landing WP at last WP location -QGC WPL 110 -0 1 3 22 15.0 0 0 0 47.397740722711738 8.5455944102696719 12.0 1 -1 0 2 3000 4 0.0 0.0 0.0 47.397732380000001 8.5458224099999995 12.0 1 -2 0 3 16 0 0.0 0.0 0.0 47.397749067235559 8.5429755110031351 12.0 1 -3 0 3 16 0 0.0 0.0 0.0 47.399213119631852 8.5430124879018479 12.0 1 -4 0 2 3000 3 0.0 0.0 0.0 47.399158900000003 8.5429077299999996 12.0 1 -5 0 3 21 25.0 0.0 0.0 0.0 47.399211883544922 8.5430123448444419 12.0 1 diff --git a/integrationtests/python_src/px4_it/mavros/vtol_old_3.txt b/integrationtests/python_src/px4_it/mavros/vtol_old_3.txt deleted file mode 100644 index ab7814c9c9..0000000000 --- a/integrationtests/python_src/px4_it/mavros/vtol_old_3.txt +++ /dev/null @@ -1,5 +0,0 @@ -# Old style transitions, takeoff with normal WP -QGC WPL 110 -0 1 3 16 15.0 0 0 0 47.398157669127094 8.5460336317115377 12.0 1 -1 0 2 3000 4 0.0 0.0 0.0 47.398033142089844 8.5457897186279297 12.0 1 -2 0 3 16 0 0.0 0.0 0.0 47.399269104003906 8.5455722808837891 12.0 1