check

name	check
description	Build and run ArduPilot unit tests. Use when the user asks to run tests, check tests, or verify code changes with tests.
argument-hint	[test_name]
disable-model-invocation	true
allowed-tools	Bash(./waf *), Bash(./build/*), Read, Grep, Glob

Run ArduPilot Unit Tests

Unit tests use Google Test framework. They require SITL board configuration.

Workflow

Step 1: Ensure SITL is configured

./waf configure --board sitl

Step 2: Build and run tests

If $ARGUMENTS specifies a test name:

# Build specific test
./waf --targets tests/$ARGUMENTS

# Run it
./build/sitl/tests/$ARGUMENTS

If no arguments, run all changed tests:

./waf check

Or to run ALL tests:

./waf check-all

Step 3: Report results

• Show pass/fail status for each test case
• For failures, show the assertion that failed with expected vs actual values
• Suggest relevant code locations to investigate failures

Available tests

Tests are in libraries/*/tests/. Common ones:

Test	Library	What it tests
test_math	AP_Math	Vector, matrix, quaternion math
test_rotation	AP_Math	Rotation matrices and conversions
test_polygon	AP_Math	Polygon inclusion/exclusion
test_euler	AP_Math	Euler angle conversions
test_filter	Filter	Low-pass, notch filters
test_bitmask	AP_Common	Bitmask operations
test_fence	AC_Fence	Geofence logic
test_mission	AP_Mission	Mission item handling

To list all available tests:

find libraries -name "test_*.cpp" -path "*/tests/*" | sed 's|.*/tests/||;s|\.cpp||' | sort

Writing tests

Tests follow Google Test patterns:

TEST(MathTest, VectorLength)
{
    Vector3f v(1, 0, 0);
    EXPECT_FLOAT_EQ(v.length(), 1.0f);
}

Test files go in libraries/<LIB>/tests/test_<name>.cpp.