Update unit tests
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8c28533c69
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@ -59,7 +59,7 @@ extern "C" {
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PG_REGISTER(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
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PG_REGISTER(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
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float rcCommand[4];
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float rcCommand[4];
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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uint16_t averageSystemLoadPercent = 0;
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uint16_t averageSystemLoadPercent = 0;
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uint8_t cliMode = 0;
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uint8_t cliMode = 0;
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uint8_t debugMode = 0;
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uint8_t debugMode = 0;
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@ -543,7 +543,7 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
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// STUBS
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// STUBS
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extern "C" {
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extern "C" {
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcCommand[4];
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float rcCommand[4];
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int16_t debug[DEBUG16_VALUE_COUNT];
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int16_t debug[DEBUG16_VALUE_COUNT];
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bool isUsingSticksToArm = true;
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bool isUsingSticksToArm = true;
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@ -204,7 +204,7 @@ TEST(FlightImuTest, TestSmallAngle)
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extern "C" {
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extern "C" {
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boxBitmask_t rcModeActivationMask;
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boxBitmask_t rcModeActivationMask;
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float rcCommand[4];
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float rcCommand[4];
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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gyro_t gyro;
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gyro_t gyro;
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acc_t acc;
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acc_t acc;
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@ -299,7 +299,7 @@ uint8_t armingFlags = 0;
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uint8_t stateFlags = 0;
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uint8_t stateFlags = 0;
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uint16_t flightModeFlags = 0;
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uint16_t flightModeFlags = 0;
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float rcCommand[4];
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float rcCommand[4];
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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boxBitmask_t rcModeActivationMask;
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boxBitmask_t rcModeActivationMask;
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gpsSolutionData_t gpsSol;
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gpsSolutionData_t gpsSol;
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@ -69,7 +69,7 @@ extern "C" {
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float rMat[3][3];
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float rMat[3][3];
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pidProfile_t *currentPidProfile;
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pidProfile_t *currentPidProfile;
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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uint8_t GPS_numSat;
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uint8_t GPS_numSat;
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uint16_t GPS_distanceToHome;
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uint16_t GPS_distanceToHome;
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int16_t GPS_directionToHome;
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int16_t GPS_directionToHome;
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@ -73,7 +73,7 @@ extern "C" {
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pidProfile_t *currentPidProfile;
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pidProfile_t *currentPidProfile;
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int16_t debug[DEBUG16_VALUE_COUNT];
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int16_t debug[DEBUG16_VALUE_COUNT];
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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uint8_t GPS_numSat;
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uint8_t GPS_numSat;
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uint16_t GPS_distanceToHome;
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uint16_t GPS_distanceToHome;
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int16_t GPS_directionToHome;
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int16_t GPS_directionToHome;
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@ -640,7 +640,7 @@ uint8_t armingFlags = 0;
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uint16_t flightModeFlags = 0;
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uint16_t flightModeFlags = 0;
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int16_t heading;
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int16_t heading;
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uint8_t stateFlags = 0;
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uint8_t stateFlags = 0;
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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pidProfile_t *currentPidProfile;
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pidProfile_t *currentPidProfile;
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rxRuntimeState_t rxRuntimeState;
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rxRuntimeState_t rxRuntimeState;
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PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
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PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
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@ -53,7 +53,7 @@ extern "C" {
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#include "rx/rx.h"
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#include "rx/rx.h"
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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extern rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
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extern rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
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extern runcamDevice_t *camDevice;
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extern runcamDevice_t *camDevice;
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@ -46,7 +46,7 @@ extern "C" {
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void crsfDataReceive(uint16_t c);
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void crsfDataReceive(uint16_t c);
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uint8_t crsfFrameCRC(void);
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uint8_t crsfFrameCRC(void);
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uint8_t crsfFrameStatus(void);
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uint8_t crsfFrameStatus(void);
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uint16_t crsfReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t chan);
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float crsfReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t chan);
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extern bool crsfFrameDone;
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extern bool crsfFrameDone;
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extern crsfFrame_t crsfFrame;
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extern crsfFrame_t crsfFrame;
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@ -239,10 +239,10 @@ TEST(CrossFireTest, TestCapturedData)
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EXPECT_EQ(983, crsfChannelData[3]);
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EXPECT_EQ(983, crsfChannelData[3]);
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uint8_t crc = crsfFrameCRC();
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uint8_t crc = crsfFrameCRC();
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EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
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EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
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EXPECT_EQ(999, crsfReadRawRC(NULL, 0));
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EXPECT_EQ(999, (uint16_t)crsfReadRawRC(NULL, 0));
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EXPECT_EQ(1501, crsfReadRawRC(NULL, 1));
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EXPECT_EQ(1501, (uint16_t)crsfReadRawRC(NULL, 1));
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EXPECT_EQ(1492, crsfReadRawRC(NULL, 2));
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EXPECT_EQ(1492, (uint16_t)crsfReadRawRC(NULL, 2));
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EXPECT_EQ(1495, crsfReadRawRC(NULL, 3));
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EXPECT_EQ(1495, (uint16_t)crsfReadRawRC(NULL, 3));
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++framePtr;
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++framePtr;
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crsfFrame = *(const crsfFrame_t*)framePtr;
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crsfFrame = *(const crsfFrame_t*)framePtr;
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@ -44,7 +44,7 @@ boxBitmask_t rcModeActivationMask;
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int16_t debug[DEBUG16_VALUE_COUNT];
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int16_t debug[DEBUG16_VALUE_COUNT];
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uint8_t debugMode = 0;
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uint8_t debugMode = 0;
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extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
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extern float applyRxChannelRangeConfiguraton(float sample, const rxChannelRangeConfig_t *range);
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}
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}
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#define RANGE_CONFIGURATION(min, max) new (rxChannelRangeConfig_t) {min, max}
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#define RANGE_CONFIGURATION(min, max) new (rxChannelRangeConfig_t) {min, max}
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@ -62,7 +62,7 @@ extern "C" {
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PG_REGISTER(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
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PG_REGISTER(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
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float rcCommand[4];
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float rcCommand[4];
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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uint16_t averageSystemLoadPercent = 0;
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uint16_t averageSystemLoadPercent = 0;
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uint8_t cliMode = 0;
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uint8_t cliMode = 0;
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uint8_t debugMode = 0;
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uint8_t debugMode = 0;
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