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Set up and run SITL integration tests for backend_flightcontroller.py. Use when testing real MAVLink communication, downloading pre-built SITL binaries from firmware.ardupilot.org, running sitl-marked pytest tests, or debugging connection failures on TCP port 5760.
Codex または Claude でインストール この Prompt をコピーして Codex、Claude、または他のアシスタントに貼り付けると、Skill ページを確認してインストールできます。
SOC 職業分類に基づく
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| name | sitl-testing |
| description | Set up and run SITL integration tests for backend_flightcontroller.py. Use when testing real MAVLink communication, downloading pre-built SITL binaries from firmware.ardupilot.org, running sitl-marked pytest tests, or debugging connection failures on TCP port 5760. |
This document describes how to set up and run integration tests using ArduPilot SITL (Software In The Loop) for testing the backend_flightcontroller.py module.
SITL testing provides real MAVLink communication validation instead of mocked tests. This ensures the flight controller backend works correctly with actual ArduPilot firmware.
The SITL testing setup consists of:
firmware.ardupilot.org)sitl/copter.parm with battery monitoring enabledDownload the latest pre-built SITL binary directly from the official ArduPilot firmware server:
./scripts/run_sitl_tests.sh download
This downloads ArduCopter SITL from https://firmware.ardupilot.org/Copter/latest/SITL_x86_64_linux_gnu/arducopter
SITL tests run automatically in GitHub Actions when SITL artifacts are available. The test workflow:
@pytest.mark.sitlUse the provided script for local SITL testing. You can either download pre-built SITL or use a locally built version:
# Download ArduCopter SITL from official firmware server
./scripts/run_sitl_tests.sh download
# Download and run tests in one command
./scripts/run_sitl_tests.sh download-test
# Check if downloaded SITL is available
./scripts/run_sitl_tests.sh check
# Set up environment for locally built SITL
export ARDUPILOT_DIR="$HOME/ardupilot-sitl"
# Check if locally built SITL is available
./scripts/run_sitl_tests.sh check
# Set up SITL for testing
./scripts/run_sitl_tests.sh setup
# Run SITL integration tests
./scripts/run_sitl_tests.sh test
# Clean up SITL processes and cache
./scripts/run_sitl_tests.sh cleanup
# Show help
./scripts/run_sitl_tests.sh help
Run specific SITL tests:
# Run all SITL tests
python -m pytest tests/test_backend_flightcontroller_sitl.py -v
# Run only SITL tests (skip if SITL unavailable)
python -m pytest -m sitl -v
# Run SITL tests or fallback to mocked tests
python -m pytest -m "sitl or not sitl" -v
SITL tests cover:
SITL runs with the following command line parameters:
arducopter --model quad --home "40.071374,-105.229930,1440,0" --defaults sitl/copter.parm --sysid 1 --speedup 10
Some tests require specific parameters to be set in sitl/copter.parm:
BATT_MONITOR = 4 (Analog voltage and current)BATT_VOLT_PIN = 1BATT_CURR_PIN = 2BATT_VOLT_MULT = 10.0BATT_AMP_PERVOLT = 17.0SITL_BINARY: Path to ArduCopter SITL binary (auto-detected in CI)ARDUPILOT_DIR: Path to ArduPilot directory for local development@pytest.mark.sitl: Marks tests requiring SITL./scripts/run_sitl_tests.sh download to download from ArduPilot website./waf configure --board=sitl && ./waf copterARDUPILOT_DIR environment variable for locally built SITL