How the libuavcan project, a C++ implementation of the UAVCAN protocol, is using buildkite, raspberry PI, and some delicious Python custard to provide Hardware-In-the-Loop test automation for pull requests and CI builds.
Test Like You Fly: Implementing On-Target Testing for the Libuavcan Project
The Progression of Integration Level Tests
(Adapted from: White, Julie; Tilney, Lindsay “Applying the “Test Like You Fly” (TLYF) Process To Flight Software Testing” Workshop of Spacecraft Flight Software 2013, http://flightsoftware.jhuapl.edu/files/2013/talks/FSW-13-TALKS/TLYF_Apply2FSW_Dec2013r1.pdf)