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.

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.