PX4 · bkueng · Dec 11, 2023 · Dec 11, 2023 · Dec 11, 2023 · Dec 11, 2023
diff --git a/en/SUMMARY.md b/en/SUMMARY.md
@@ -688,8 +688,10 @@
       * [Test MC_05 - Indoor Flight (Manual Modes)](test_cards/mc_05_indoor_flight_manual_modes.md)
     * [Unit Tests](test_and_ci/unit_tests.md)
     * [Continuous Integration](test_and_ci/continous_integration.md)
-    * [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md)
     * [ROS Integration Testing](test_and_ci/integration_testing.md)
+      * [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md)
+      * [PX4 ROS2 Interface Library Integration Testing](test_and_ci/integration_testing_px4_ros2_interface.md)
+      * [ROS 1 Integration Testing](test_and_ci/integration_testing_ros1_mavros.md)
     * [Docker Containers](test_and_ci/docker.md)
     * [Maintenance](test_and_ci/maintenance.md)
 * [Drone Apps & APIs](robotics/README.md)

diff --git a/en/ros2/px4_ros2_interface_lib.md b/en/ros2/px4_ros2_interface_lib.md
@@ -193,6 +193,8 @@ The following steps are required to get started:
 The following sections describe specific functionality provided by this library.
 In addition, any other PX4 topic can be subscribed or published.
 
+Detailed API usage can be found here: https://auterion.github.io/px4-ros2-interface-lib/modules.html
+
 ### Mode Class Definition
 
 This section steps through an example of how to create a class for a custom mode.
@@ -459,20 +461,4 @@ Settings{kName, false, ModeBase::kModeIDRtl}
 When opening a pull request to PX4, CI runs the library integration tests.
 These test that mode registration, failsafes, and mode replacement, work as expected.
 
-The tests can also be run locally from PX4:
-
-```sh
-./test/ros_test_runner.py
-```
-
-And to run only a single case:
-
-```sh
-./test/ros_test_runner.py --verbose --case <case>
-```
-
-You can list the available test cases with:
-
-```sh
-./test/ros_test_runner.py --list-cases
-```
+For more information see [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md).
diff --git a/en/simulation/README.md b/en/simulation/README.md
@@ -155,9 +155,8 @@ make px4_sitl none_iris
 
 The simulation can be further configured via environment variables:
 
-- `PX4_ESTIMATOR`: This variable configures which estimator to use.
-  Possible options are: `ekf2` (default), `lpe` (deprecated).
-  It can be set via `export PX4_ESTIMATOR=lpe` before running the simulation.
+- Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
+  For example changing the estimator: `export PX4_PARAM_SYS_MC_EST_GROUP=3`.
 
 The syntax described here is simplified, and there are many other options that you can configure via _make_ - for example, to set that you wish to connect to an IDE or debugger.
 For more information see: [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#px4-make-build-targets).

diff --git a/en/test_and_ci/README.md b/en/test_and_ci/README.md
@@ -8,7 +8,9 @@ Test topics include:
 - [Test Flights](../test_and_ci/test_flights.md) - How to make test flights (e.g. to [test PRs](../contribute/code.md#pull-requests))
 - [Unit Tests](../test_and_ci/unit_tests.md)
 - [Continuous Integration (CI)](../test_and_ci/continous_integration.md)
-- [ROS Integration Testing](../test_and_ci/integration_testing.md)
-- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md)
+- [Integration Testing](../test_and_ci/integration_testing.md)
+  - [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md)
+  - [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md)
+  - [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
 - [Docker](../test_and_ci/docker.md)
 - [Maintenance](../test_and_ci/maintenance.md)
diff --git a/en/test_and_ci/integration_testing.md b/en/test_and_ci/integration_testing.md
@@ -1,152 +1,13 @@
-# Integration Testing using ROS
+# Integration Testing
 
-This topic explains how to run (and extend) PX4's ROS-based integration tests.
+Integration tests are used to verify how well larger parts of a system work together.
+In PX4 this generally means testing whole features of a vehicle, usually running in simulation.
+The tests are run in [Continuous Integration (CI)](../test_and_ci/continous_integration.md) on every pull request.
 
-:::note
-[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
-Use the ROS-based integration test framework for use cases that _require_ ROS (e.g. object avoidance).
+- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) - MAVSDK-based test framework for PX4.
+  This is the recommended framework for writing new Integration tests is MAVSDK.
+- [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md) - Integration Tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
 
-All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
-:::
+The following framework should only be used for tests that require ROS 1:
 
-## Prerequisites:
-
-- [jMAVSim Simulator](../sim_jmavsim/README.md)
-- [Gazebo Classic Simulator](../sim_gazebo_classic/README.md)
-- [ROS and MAVROS](../simulation/ros_interface.md)
-
-## Execute Tests
-
-To run the MAVROS tests:
-
-```sh
-source <catkin_ws>/devel/setup.bash
-cd <PX4-Autopilot_clone>
-make px4_sitl_default sitl_gazebo
-make <test_target>
-```
-
-`test_target` is a makefile targets from the set: _tests_mission_, _tests_mission_coverage_, _tests_offboard_ and _tests_avoidance_.
-
-Test can also be executed directly by running the test scripts, located under `test/`:
-
-```sh
-source <catkin_ws>/devel/setup.bash
-cd <PX4-Autopilot_clone>
-make px4_sitl_default sitl_gazebo
-./test/<test_bash_script> <test_launch_file>
-```
-
-For example:
-
-```sh
-./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
-```
-
-Tests can also be run with a GUI to see what's happening (by default the tests run "headless"):
-
-```sh
-./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test gui:=true headless:=false
-```
-
-The **.test** files launch the corresponding Python tests defined in `integrationtests/python_src/px4_it/mavros/`
-
-## Write a New MAVROS Test (Python)
-
-This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.
-
-We recommend you review the existing tests as examples/inspiration ([integrationtests/python_src/px4_it/mavros/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)).
-The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based).
-
-To write a new test:
-
-1. Create a new test script by copying the empty test skeleton below:
-
-   ```python
-   #!/usr/bin/env python
-   # [... LICENSE ...]
-
-   #
-   # @author Example Author <[email protected]>
-   #
-   PKG = 'px4'
-
-   import unittest
-   import rospy
-   import rosbag
-
-   from sensor_msgs.msg import NavSatFix
-
-   class MavrosNewTest(unittest.TestCase):
-   	"""
-   	Test description
-   	"""
-
-   	def setUp(self):
-   		rospy.init_node('test_node', anonymous=True)
-   		rospy.wait_for_service('mavros/cmd/arming', 30)
-
-   		rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-   		self.rate = rospy.Rate(10) # 10hz
-   		self.has_global_pos = False
-
-   	def tearDown(self):
-   		pass
-
-   	#
-   	# General callback functions used in tests
-   	#
-   	def global_position_callback(self, data):
-   		self.has_global_pos = True
-
-   	def test_method(self):
-   		"""Test method description"""
-
-   		# FIXME: hack to wait for simulation to be ready
-   		while not self.has_global_pos:
-   			self.rate.sleep()
-
-   		# TODO: execute test
-
-   if __name__ == '__main__':
-   	import rostest
-   	rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
-   ```
-
-1. Run the new test only
-
-   - Start the simulator:
-
-     ```sh
-     cd <PX4-Autopilot_clone>
-     source Tools/simulation/gazebo/setup_gazebo.bash
-     roslaunch launch/mavros_posix_sitl.launch
-     ```
-
-   - Run test (in a new shell):
-
-     ```sh
-     cd <PX4-Autopilot_clone>
-     source Tools/simulation/gazebo/setup_gazebo.bash
-     rosrun px4 mavros_new_test.py
-     ```
-
-1. Add new test node to a launch file
-
-   - In `test/` create a new `<test_name>.test` ROS launch file.
-   - Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_
-
-1. (Optional) Create a new target in the Makefile
-
-   - Open the Makefile
-   - Search the _Testing_ section
-   - Add a new target name and call the test
-
-   For example:
-
-   ```sh
-   tests_<new_test_target_name>: rostest
-   	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
-   ```
-
-Run the tests as described above.
+- [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
diff --git a/en/test_and_ci/integration_testing_mavsdk.md b/en/test_and_ci/integration_testing_mavsdk.md
@@ -7,6 +7,10 @@ In future we plan to generalise them for any platform/hardware.
 
 The instructions below explain how to setup and run the tests locally.
 
+:::note
+This is the recommended integration test framework for PX4.
+:::
+
 ## Prerequisites
 
 ### Setup Developer Environment
@@ -47,21 +51,20 @@ To run all SITL tests as defined in [sitl.json](https://github.com/PX4/PX4-Autop
 test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10
 ```
 
-This will list all of the tests and then run them sequentially.
+This will list all the tests and then run them sequentially.
 
 To see all possible command line arguments use the `-h` argument:
 
 ```sh
-test/mavsdk_tests/mavsdk_test_runner.py -h
-
-usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] [--gui] [--model MODEL]
-                             [--case CASE] [--debugger DEBUGGER] [--verbose]
+usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early]
+                             [--gui] [--model MODEL] [--case CASE] [--debugger DEBUGGER] [--upload] [--force-color]
+                             [--verbose] [--build-dir BUILD_DIR]
                              config_file
 
 positional arguments:
   config_file           JSON config file to use
 
-optional arguments:
+options:
   -h, --help            show this help message and exit
   --log-dir LOG_DIR     Directory for log files
   --speed-factor SPEED_FACTOR
@@ -71,9 +74,13 @@ optional arguments:
   --abort-early         abort on first unsuccessful test
   --gui                 display the visualization for a simulation
   --model MODEL         only run tests for one model
-  --case CASE           only run tests for one case
+  --case CASE           only run tests for one case (or multiple cases with wildcard '*')
   --debugger DEBUGGER   choice from valgrind, callgrind, gdb, lldb
+  --upload              Upload logs to logs.px4.io
+  --force-color         Force colorized output
   --verbose             enable more verbose output
+  --build-dir BUILD_DIR
+                        relative path where the built files are stored
 ```
 
 ## Run a Single Test

diff --git a/en/test_and_ci/integration_testing_px4_ros2_interface.md b/en/test_and_ci/integration_testing_px4_ros2_interface.md
@@ -0,0 +1,29 @@
+# Integration Testing for the PX4 ROS 2 Interface Library
+
+This topic outlines the integration tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
+
+These test that mode registration, failsafes, and mode replacement, work as expected.
+
+## CI Testing
+
+When opening a pull request to PX4, CI runs the library integration tests.
+
+## Running Tests Locally
+
+The tests can also be run locally from PX4:
+
+```sh
+./test/ros_test_runner.py
+```
+
+And to run only a single case:
+
+```sh
+./test/ros_test_runner.py --verbose --case <case>
+```
+
+You can list the available test cases with:
+
+```sh
+./test/ros_test_runner.py --list-cases
+```