CI: remove old mission formats

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]
+        for waypoint in read_plan_file(f):
-        if mission_filename_ext == '.plan':
+            wps.append(waypoint)
-            for waypoint in read_plan_file(f):
+            rospy.logdebug(waypoint)
-                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)
 
     # 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

integrationtests/python_src/px4_it/mavros/multirotor_box.mission

@@ -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"
-}

integrationtests/python_src/px4_it/mavros/vtol_new_1.txt

@@ -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

integrationtests/python_src/px4_it/mavros/vtol_new_2.txt

@@ -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

integrationtests/python_src/px4_it/mavros/vtol_old_1.txt

@@ -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

integrationtests/python_src/px4_it/mavros/vtol_old_2.txt

@@ -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

integrationtests/python_src/px4_it/mavros/vtol_old_3.txt

@@ -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