The Code Quality WG is focused on ways to provide incremental improvements to Dronecode project code quality and testing.

Tools

• Coverity - https://scan.coverity.com/projects/px4-firmware
• clang-tidy
• astyle - consistent code formatting improves readability and reduces potential merge conflicts for downstream adopters
• Docker - consistent, repeatable build environment

Build System

• travis-ci (http://travis-ci.org/PX4/Firmware)
  • responsible for building and deploying production binaries for QGroundControl
• semaphoreci (https://semaphoreci.com/px4/firmware/)
• circleci (https://circleci.com/gh/PX4/Firmware)
• jenkins (http://sitl01.dronetest.io/)
  • runs a set of multicopter and VTOL mission tests

Testing

• mission tests
• unit tests
• SITL (Software in the loop)
• HIL (Hardware in the loop)

Todo

• significantly expand automated mission tests
• run mission tests under address sanitizer
• code coverage
• hardware tests
• perf tracking
• Automated testing (static analysis, etc)
• Running with address sanitier and thread sanitizer enabled
• Clang tidy expand usage (modernize c++)
• Identifying code in desperate need of refactoring (commander)
• Using safe C++ types
  • A time in ms should be a time_ms type vs an int, safe addition, multiplication can then be used
  • Convert Orb and param usage to C++ APIs for type safety
• Commander re-write
• Better quantified code coverage tests
• Make it easier for people to contribute and maintain code quality
• Unify NuttX and DriverFramework drivers
  • Create design pattern for driver based on cross platform requirements