Fixed tests.
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53278c08f8
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1771ea687f
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@ -35,12 +35,9 @@
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#include "common/maths.h"
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#include "common/utils.h"
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#include "drivers/time.h"
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#include "config/feature.h"
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#include "pg/pg.h"
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#include "pg/pg_ids.h"
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#include "pg/rx.h"
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#include "drivers/time.h"
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#include "flight/pid.h"
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@ -51,12 +48,17 @@
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/rc_adjustments.h"
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#include "fc/rc_controls.h"
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#include "fc/rc.h"
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#include "pg/pg.h"
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#include "pg/pg_ids.h"
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#include "pg/rx.h"
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#include "rx/rx.h"
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#include "rc_adjustments.h"
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#define ADJUSTMENT_RANGE_COUNT_INVALID -1
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PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 1);
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@ -93,7 +93,7 @@ TEST(ArmingPreventionTest, CalibrationPowerOnGraceAngleThrottleArmSwitch)
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modeActivationConditionsMutable(0)->modeId = BOXARM;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -183,7 +183,7 @@ TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
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modeActivationConditionsMutable(0)->modeId = BOXARM;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -261,7 +261,7 @@ TEST(ArmingPreventionTest, Prearm)
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modeActivationConditionsMutable(1)->modeId = BOXPREARM;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -304,7 +304,7 @@ TEST(ArmingPreventionTest, RadioTurnedOnAtAnyTimeArmed)
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modeActivationConditionsMutable(0)->modeId = BOXARM;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -370,7 +370,7 @@ TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadband)
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modeActivationConditionsMutable(0)->modeId = BOXARM;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->midrc = 1500;
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@ -437,7 +437,7 @@ TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionAp
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modeActivationConditionsMutable(1)->modeId = BOX3D;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -538,7 +538,7 @@ TEST(ArmingPreventionTest, WhenUsingSwitched3DModeThenNormalThrottleArmingCondit
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modeActivationConditionsMutable(1)->modeId = BOX3D;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -632,7 +632,7 @@ TEST(ArmingPreventionTest, Rescue)
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modeActivationConditionsMutable(1)->modeId = BOXGPSRESCUE;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -744,7 +744,7 @@ TEST(ArmingPreventionTest, ParalyzeOnAtBoot)
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modeActivationConditionsMutable(1)->modeId = BOXPARALYZE;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -794,7 +794,7 @@ TEST(ArmingPreventionTest, Paralyze)
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modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
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modeActivationConditionsMutable(3)->modeId = BOXVTXPITMODE;
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modeActivationConditionsMutable(3)->linkedTo = BOXPARALYZE;
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useRcControlsConfig(NULL);
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rcControlsInit();
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// and
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rxConfigMutable()->mincheck = 1050;
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@ -566,7 +566,6 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
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pidProfile.pid[PID_YAW].P = 7;
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pidProfile.pid[PID_YAW].I = 17;
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pidProfile.pid[PID_YAW].D = 27;
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useAdjustmentConfig(&pidProfile);
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// and
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controlRateConfig_t controlRateConfig;
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memset(&controlRateConfig, 0, sizeof (controlRateConfig));
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@ -602,7 +601,8 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
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(1 << 5);
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// when
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useRcControlsConfig(&pidProfile);
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currentPidProfile = &pidProfile;
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rcControlsInit();
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processRcAdjustments(&controlRateConfig);
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// then
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@ -638,7 +638,6 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
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pidProfile.D_f[PIDPITCH] = 20.0f;
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pidProfile.D_f[PIDROLL] = 25.0f;
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pidProfile.D_f[PIDYAW] = 27.0f;
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useAdjustmentConfig(&pidProfile);
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// and
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controlRateConfig_t controlRateConfig;
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@ -675,7 +674,8 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
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(1 << 5);
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// when
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useRcControlsConfig(&escAndServoConfig, &pidProfile);
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currentPidProfile = &pidProfile;
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rcControlsInit();
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processRcAdjustments(&controlRateConfig, &rxConfig);
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// then
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@ -733,6 +733,7 @@ uint16_t flightModeFlags = 0;
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int16_t heading;
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uint8_t stateFlags = 0;
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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pidProfile_t *currentPidProfile;
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rxRuntimeConfig_t rxRuntimeConfig;
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PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
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PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
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