Changing library-code in combination with build-step of autotest framework


I want to to the following:
For some research I want to change some code in the AP_Motors Library.
I am then running tests with the autotest framework of ardupilot.

Is running the build.Copter step before test execution enough to enable the code or do I have to do something else to get my code running on the board (it’s code that is not very easy to observe so I don’t really know if my changes took effect yet).

Sorry for the nooby question :wink:

'That should be enough, it will recompile the code.

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That will work. Though by board I assume you mean SITL :wink:

BTW you can use --no-clean if you are making small changes so you dont recompile everything each time. Here is my common command,

I run the tests in a higher level folder.
./../ardupilot/Tools/autotest/ build.Copter test.Copter.Mount --no-clean

If you’ve done major changes prepending removal of the binaries can be useful.
rm ../ardupilot/build/sitl/bin/* & ./../ardupilot/Tools/autotest/ build.Helicopter test.Helicopter.AirspeedDrivers

You can also debug the Autotests in VSCode (both C++ and Python) Though C++ is tricky at the same time.