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Testing ​

The MAVSDK C++ library has both unit and system tests, written using the Google C++ Test Framework (gtest). The unit tests are run every time new code is committed to the library, and must pass before the code can be merged.

This topic shows how to run the existing tests.

TIP

For information on writing tests see: Writing Plugins > Test Code.

Running Unit Tests ​

To run all unit tests:

./build/debug/src/unit_tests/unit_tests_runner

Running System Tests ​

System tests use two MAVSDK instances (a ground station and an autopilot) to test functionality without requiring an external simulator. To run all system tests:

./build/debug/src/system_tests/system_tests_runner

Gtest Tricks ​

To list all system tests:

./build/debug/src/system_tests/system_tests_runner --gtest_list_tests

To run a single system test:

./build/debug/src/system_tests/system_tests_runner --gtest_filter="SystemTest.MissionRawUpload"

To run all mission tests:

./build/debug/src/system_tests/system_tests_runner --gtest_filter="*Mission*"

Fuzz Testing ​

MAVSDK includes a MAVLink fuzzer using libfuzzer to find bugs through randomized input testing. Fuzzing requires the Clang compiler.

Building the Fuzzer ​

bash
cmake -Bbuild-fuzz -S. -GNinja -DBUILD_FUZZ_TESTS=ON -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
cmake --build build-fuzz

Running the Fuzzer ​

bash
# Run for 60 seconds
./build-fuzz/src/fuzz_tests/mavlink_fuzzer fuzz_corpus -max_total_time=60

# Run with more options
./build-fuzz/src/fuzz_tests/mavlink_fuzzer -help

The fuzz_corpus/ directory stores test cases that the fuzzer discovers. This corpus grows over time and improves fuzzing effectiveness.