Adding a unit test for quad X motor mixers.

src/main/flight/mixer.c

@@ -203,7 +203,7 @@ static const motorMixer_t mixerDualcopter[] = {
 
 // Keep synced with mixerMode_e
 const mixer_t mixers[] = {
-//    Mo Se Mixtable
+    // motors, servos, motor mixer
     { 0, 0, NULL },                // entry 0
     { 3, 1, mixerTri },            // MIXER_TRI
     { 4, 0, mixerQuadP },          // MIXER_QUADP
@@ -224,7 +224,7 @@ const mixer_t mixers[] = {
     { 4, 0, mixerVtail4 },         // MIXER_VTAIL4
     { 6, 0, mixerHex6H },          // MIXER_HEX6H
     { 0, 1, NULL },                // * MIXER_PPM_TO_SERVO
-    { 2, 1, mixerDualcopter  },    // MIXER_DUALCOPTER
+    { 2, 1, mixerDualcopter },     // MIXER_DUALCOPTER
     { 1, 1, NULL },                // MIXER_SINGLECOPTER
     { 4, 0, mixerAtail4 },         // MIXER_ATAIL4
     { 0, 0, NULL },                // MIXER_CUSTOM
@@ -665,9 +665,11 @@ void mixTable(void)
     }
 
     // constrain servos
-    for (i = 0; i < MAX_SUPPORTED_SERVOS; i++)
-        servo[i] = constrain(servo[i], servoConf[i].min, servoConf[i].max); // limit the values
-
+    if (useServo) {
+        for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+            servo[i] = constrain(servo[i], servoConf[i].min, servoConf[i].max); // limit the values
+        }
+    }
     // forward AUX1-4 to servo outputs (not constrained)
     if (gimbalConfig->gimbal_flags & GIMBAL_FORWARDAUX) {
         forwardAuxChannelsToServos();

src/test/unit/flight_mixer_unittest.cc

@@ -65,6 +65,13 @@ extern "C" {
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
 
+// input
+#define TEST_RC_MID 1500
+
+// output
+#define TEST_MIN_COMMAND 1000
+#define TEST_SERVO_MID 1500
+
 typedef struct motor_s {
     uint16_t value;
 } motor_t;
@@ -87,17 +94,17 @@ TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithNoServos)
     memset(&servos, 0, sizeof(servos));
     servoCount = 0;
 
-    rcData[AUX1] = 1500;
-    rcData[AUX2] = 1500;
-    rcData[AUX3] = 1500;
-    rcData[AUX4] = 1500;
+    rcData[AUX1] = TEST_RC_MID;
+    rcData[AUX2] = TEST_RC_MID;
+    rcData[AUX3] = TEST_RC_MID;
+    rcData[AUX4] = TEST_RC_MID;
 
     // when
     forwardAuxChannelsToServos();
 
     // then
     for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-        EXPECT_EQ(servos[i].value, 0);
+        EXPECT_EQ(0, servos[i].value);
     }
 }
 
@@ -122,10 +129,10 @@ TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithMaxServos)
     }
 
     // -1 for zero based offset
-    EXPECT_EQ(servos[MAX_SUPPORTED_SERVOS - 3 - 1].value, 1000);
-    EXPECT_EQ(servos[MAX_SUPPORTED_SERVOS - 2 - 1].value, 1250);
-    EXPECT_EQ(servos[MAX_SUPPORTED_SERVOS - 1 - 1].value, 1750);
-    EXPECT_EQ(servos[MAX_SUPPORTED_SERVOS - 0 - 1].value, 2000);
+    EXPECT_EQ(1000, servos[MAX_SUPPORTED_SERVOS - 3 - 1].value);
+    EXPECT_EQ(1250, servos[MAX_SUPPORTED_SERVOS - 2 - 1].value);
+    EXPECT_EQ(1750, servos[MAX_SUPPORTED_SERVOS - 1 - 1].value);
+    EXPECT_EQ(2000, servos[MAX_SUPPORTED_SERVOS - 0 - 1].value);
 }
 
 TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithLessServosThanAuxChannelsToForward)
@@ -149,8 +156,8 @@ TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithLessServosThanAuxChannel
     }
 
     // -1 for zero based offset
-    EXPECT_EQ(servos[0].value, 1000);
-    EXPECT_EQ(servos[1].value, 1250);
+    EXPECT_EQ(1000, servos[0].value);
+    EXPECT_EQ(1250, servos[1].value);
 }
 
 TEST(FlightMixerTest, TestTricopterServo)
@@ -163,7 +170,7 @@ TEST(FlightMixerTest, TestTricopterServo)
 
     escAndServoConfig_t escAndServoConfig;
     memset(&escAndServoConfig, 0, sizeof(escAndServoConfig));
-    escAndServoConfig.mincommand = 1000;
+    escAndServoConfig.mincommand = TEST_MIN_COMMAND;
 
     servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
     memset(&servoConf, 0, sizeof(servoConf));
@@ -213,9 +220,67 @@ TEST(FlightMixerTest, TestTricopterServo)
     writeServos();
 
     // then
-    EXPECT_EQ(servos[0].value, 1500);
+    EXPECT_EQ(TEST_SERVO_MID, servos[0].value);
 }
 
+TEST(FlightMixerTest, TestQuadMotors)
+{
+    // given
+    mixerConfig_t mixerConfig;
+    memset(&mixerConfig, 0, sizeof(mixerConfig));
+
+    //servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
+    //memset(&servoConf, 0, sizeof(servoConf));
+
+    escAndServoConfig_t escAndServoConfig;
+    memset(&escAndServoConfig, 0, sizeof(escAndServoConfig));
+    escAndServoConfig.mincommand = TEST_MIN_COMMAND;
+
+    gimbalConfig_t gimbalConfig = {
+        .gimbal_flags = 0
+    };
+
+    mixerUseConfigs(
+        NULL,// servoConf,
+        &gimbalConfig,
+        NULL,
+        &escAndServoConfig,
+        &mixerConfig,
+        NULL,
+        NULL
+    );
+
+    motorMixer_t customMixer[MAX_SUPPORTED_MOTORS];
+    memset(&customMixer, 0, sizeof(customMixer));
+
+    mixerInit(MIXER_QUADX, customMixer);
+
+    // and
+    pwmOutputConfiguration_t pwmOutputConfiguration = {
+            .servoCount = 0,
+            .motorCount = 4
+    };
+
+    mixerUsePWMOutputConfiguration(&pwmOutputConfiguration);
+
+    // and
+    memset(rcCommand, 0, sizeof(rcCommand));
+
+    // and
+    memset(axisPID, 0, sizeof(axisPID));
+    axisPID[YAW] = 0;
+
+
+    // when
+    mixTable();
+    writeMotors();
+
+    // then
+    EXPECT_EQ(TEST_MIN_COMMAND, motors[0].value);
+    EXPECT_EQ(TEST_MIN_COMMAND, motors[1].value);
+    EXPECT_EQ(TEST_MIN_COMMAND, motors[2].value);
+    EXPECT_EQ(TEST_MIN_COMMAND, motors[3].value);
+}
 
 // STUBS