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Fixed arming prevention unittest.

This commit is contained in:
mikeller 2018-12-04 01:34:06 +13:00
parent 76e3722a17
commit 1784910aa8
3 changed files with 14 additions and 4 deletions
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7
src/main/flight/gps_rescue.c
View File

@ -26,6 +26,7 @@
#include "common/axis.h"
#include "common/maths.h"
#include "common/utils.h"
#include "drivers/time.h"
@ -352,20 +353,20 @@ static void performSanityChecks()
previousTimeUs = currentTimeUs;
secondsStalled = constrain(secondsStalled + (rescueState.sensor.groundSpeed < 150) ? 1 : -1, 0, 20);
secondsStalled = constrain(secondsStalled + ((rescueState.sensor.groundSpeed < 150) ? 1 : -1), 0, 20);
if (secondsStalled == 20) {
rescueState.failure = RESCUE_STALLED;
}
secondsFlyingAway = constrain(secondsFlyingAway + (lastDistanceToHomeM < rescueState.sensor.distanceToHomeM) ? 1 : -1, 0, 10);
secondsFlyingAway = constrain(secondsFlyingAway + ((lastDistanceToHomeM < rescueState.sensor.distanceToHomeM) ? 1 : -1), 0, 10);
lastDistanceToHomeM = rescueState.sensor.distanceToHomeM;
if (secondsFlyingAway == 10) {
rescueState.failure = RESCUE_FLYAWAY;
}
secondsLowSats = constrain(secondsLowSats + (rescueState.sensor.numSat < gpsRescueConfig()->minSats) ? 1 : -1, 0, 10);
secondsLowSats = constrain(secondsLowSats + ((rescueState.sensor.numSat < gpsRescueConfig()->minSats) ? 1 : -1), 0, 10);
if (secondsLowSats == 10) {
rescueState.failure = RESCUE_LOWSATS;

1
src/test/Makefile
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@ -37,6 +37,7 @@ arming_prevention_unittest_SRC := \
$(USER_DIR)/fc/rc_controls.c \
$(USER_DIR)/fc/rc_modes.c \
$(USER_DIR)/fc/runtime_config.c \
$(USER_DIR)/flight/gps_rescue.c \
$(USER_DIR)/common/bitarray.c
arming_prevention_unittest_DEFINES := \

10
src/test/unit/arming_prevention_unittest.cc
View File

@ -55,7 +55,6 @@ extern "C" {
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
float rcCommand[4];
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
@ -71,6 +70,9 @@ extern "C" {
bool cmsInMenu = false;
float axisPID_P[3], axisPID_I[3], axisPID_D[3], axisPIDSum[3];
rxRuntimeConfig_t rxRuntimeConfig = {};
uint16_t GPS_distanceToHome = 0;
int16_t GPS_directionToHome = 0;
acc_t acc = {};
}
uint32_t simulationFeatureFlags = 0;
@ -966,4 +968,10 @@ extern "C" {
bool usbVcpIsConnected(void) { return false; }
void pidSetAntiGravityState(bool) {}
void osdSuppressStats(bool) {}
float scaleRangef(float, float, float, float, float) { return 0.0f; }
bool crashRecoveryModeActive(void) { return false; }
int32_t getEstimatedAltitudeCm(void) { return 0; }
bool gpsIsHealthy() { return false; }
bool isAltitudeOffset(void) { return false; }
float getCosTiltAngle(void) { return 0.0f; }
}