Decouple altitudehold.c from config.c. Update flight_imu_unittest and

altitude_hold_unittest.

src/main/config/config.c

@@ -248,7 +248,13 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
     controlRateConfig->thrExpo8 = 0;
     controlRateConfig->dynThrPID = 0;
     controlRateConfig->tpa_breakpoint = 1500;
+}
 
+void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
+    rcControlsConfig->deadband = 0;
+    rcControlsConfig->yaw_deadband = 0;
+    rcControlsConfig->alt_hold_deadband = 40;
+    rcControlsConfig->alt_hold_fast_change = 1;
 }
 
 uint8_t getCurrentProfile(void)
@@ -330,7 +336,7 @@ static void resetConf(void)
     masterConfig.small_angle = 25;
 
     masterConfig.airplaneConfig.flaps_speed = 0;
-    masterConfig.fixedwing_althold_dir = 1;
+    masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
 
     // Motor/ESC/Servo
     resetEscAndServoConfig(&masterConfig.escAndServoConfig);
@@ -377,10 +383,9 @@ static void resetConf(void)
 
     // Radio
     parseRcChannels("AETR1234", &masterConfig.rxConfig);
-    currentProfile->deadband = 0;
+
-    currentProfile->yaw_deadband = 0;
+    resetRcControlsConfig(&currentProfile->rcControlsConfig);
-    currentProfile->alt_hold_deadband = 40;
+
-    currentProfile->alt_hold_fast_change = 1;
     currentProfile->throttle_correction_value = 0;      // could 10 with althold or 40 for fpv
     currentProfile->throttle_correction_angle = 800;    // could be 80.0 deg with atlhold or 45.0 for fpv
 
@@ -508,7 +513,7 @@ void activateConfig(void)
     imuRuntimeConfig.small_angle = masterConfig.small_angle;
 
     configureImu(&imuRuntimeConfig, &currentProfile->pidProfile, &currentProfile->accDeadband);
-    configureAltitudeHold(&currentProfile->pidProfile, &currentProfile->barometerConfig);
+    configureAltitudeHold(&currentProfile->pidProfile, &currentProfile->barometerConfig, &currentProfile->rcControlsConfig, &masterConfig.escAndServoConfig);
 
     calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
     calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);

src/main/config/config_master.h

@@ -64,7 +64,6 @@ typedef struct master_t {
     uint8_t small_angle;
 
     airplaneConfig_t airplaneConfig;
-    int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
 
 #ifdef GPS
     gpsConfig_t gpsConfig;

src/main/config/config_profile.h

@@ -36,7 +36,6 @@ typedef struct profile_s {
 
     barometerConfig_t barometerConfig;
 
-
     uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
 
     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
@@ -44,10 +43,8 @@ typedef struct profile_s {
     adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
 
     // Radio/ESC-related configuration
-    uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
+
-    uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
+    rcControlsConfig_t rcControlsConfig;
-    uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
-    uint8_t alt_hold_fast_change;           // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
 
     uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
     uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.

src/main/flight/altitudehold.c

@@ -21,7 +21,6 @@
 #include <stdlib.h>
 #include <math.h>
 
-#include "common/maths.h"
 
 #include "platform.h"
 
@@ -29,51 +28,48 @@
 #include "common/axis.h"
 
 #include "drivers/accgyro.h"
-#include "drivers/serial.h"
-#include "drivers/gpio.h"
-#include "drivers/timer.h"
-#include "drivers/pwm_rx.h"
-
-// FIXME remove dependency on currentProfile and masterConfig globals and clean up include file list.
-
-#include "common/color.h"
 
 #include "flight/flight.h"
+
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
-#include "sensors/battery.h"
-#include "sensors/boardalignment.h"
-#include "sensors/gyro.h"
 #include "sensors/sonar.h"
 
-#include "io/escservo.h"
-#include "io/gimbal.h"
-#include "io/gps.h"
-#include "io/serial.h"
-#include "io/ledstrip.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation.h"
+#include "flight/imu.h"
-#include "telemetry/telemetry.h"
 
 #include "rx/rx.h"
 #include "io/rc_controls.h"
+#include "io/escservo.h"
 
 #include "config/runtime_config.h"
-#include "config/config.h"
+
-#include "config/config_profile.h"
+int32_t setVelocity = 0;
-#include "config/config_master.h"
+uint8_t velocityControl = 0;
+int32_t errorVelocityI = 0;
+int32_t altHoldThrottleAdjustment = 0;
+int32_t AltHold;
+int32_t EstAlt;                // in cm
+int32_t vario = 0;                      // variometer in cm/s
 
 
 barometerConfig_t *barometerConfig;
 pidProfile_t *pidProfile;
+rcControlsConfig_t *rcControlsConfig;
+escAndServoConfig_t *escAndServoConfig;
 
-void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig)
+void configureAltitudeHold(
+        pidProfile_t *initialPidProfile,
+        barometerConfig_t *intialBarometerConfig,
+        rcControlsConfig_t *initialRcControlsConfig,
+        escAndServoConfig_t *initialEscAndServoConfig
+)
 {
     pidProfile = initialPidProfile;
     barometerConfig = intialBarometerConfig;
+    rcControlsConfig = initialRcControlsConfig;
+    escAndServoConfig = initialEscAndServoConfig;
 }
 
 #if defined(BARO) || defined(SONAR)
@@ -90,22 +86,22 @@ static void applyMultirotorAltHold(void)
 {
     static uint8_t isAltHoldChanged = 0;
     // multirotor alt hold
-    if (currentProfile->alt_hold_fast_change) {
+    if (rcControlsConfig->alt_hold_fast_change) {
         // rapid alt changes
-        if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile->alt_hold_deadband) {
+        if (abs(rcCommand[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
             errorVelocityI = 0;
             isAltHoldChanged = 1;
-            rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -currentProfile->alt_hold_deadband : currentProfile->alt_hold_deadband;
+            rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -rcControlsConfig->alt_hold_deadband : rcControlsConfig->alt_hold_deadband;
         } else {
             if (isAltHoldChanged) {
                 AltHold = EstAlt;
                 isAltHoldChanged = 0;
             }
-            rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, masterConfig.escAndServoConfig.minthrottle, masterConfig.escAndServoConfig.maxthrottle);
+            rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
         }
     } else {
         // slow alt changes, mostly used for aerial photography
-        if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile->alt_hold_deadband) {
+        if (abs(rcCommand[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
             // set velocity proportional to stick movement +100 throttle gives ~ +50 cm/s
             setVelocity = (rcCommand[THROTTLE] - initialThrottleHold) / 2;
             velocityControl = 1;
@@ -115,23 +111,23 @@ static void applyMultirotorAltHold(void)
             velocityControl = 0;
             isAltHoldChanged = 0;
         }
-        rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, masterConfig.escAndServoConfig.minthrottle, masterConfig.escAndServoConfig.maxthrottle);
+        rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
     }
 }
 
-static void applyFixedWingAltHold()
+static void applyFixedWingAltHold(airplaneConfig_t *airplaneConfig)
 {
     // handle fixedwing-related althold. UNTESTED! and probably wrong
     // most likely need to check changes on pitch channel and 'reset' althold similar to
     // how throttle does it on multirotor
 
-    rcCommand[PITCH] += altHoldThrottleAdjustment * masterConfig.fixedwing_althold_dir;
+    rcCommand[PITCH] += altHoldThrottleAdjustment * airplaneConfig->fixedwing_althold_dir;
 }
 
-void applyAltHold(void)
+void applyAltHold(airplaneConfig_t *airplaneConfig)
 {
     if (STATE(FIXED_WING)) {
-        applyFixedWingAltHold();
+        applyFixedWingAltHold(airplaneConfig);
     } else {
         applyMultirotorAltHold();
     }

src/main/flight/altitudehold.h

@@ -15,9 +15,14 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig);
+//extern int32_t errorVelocityI;
+//extern int32_t altHoldThrottleAdjustment;
+//extern uint8_t velocityControl;
+//extern int32_t setVelocity;
 
-void applyAltHold(void);
+
+void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, rcControlsConfig_t *initialRcControlsConfig, escAndServoConfig_t *initialEscAndServoConfig);
+void applyAltHold(airplaneConfig_t *airplaneConfig);
 void updateAltHoldState(void);
 void updateSonarAltHoldState(void);
 

src/main/flight/flight.h

@@ -129,7 +129,6 @@ extern int16_t axisPID[XYZ_AXIS_COUNT];
 
 extern int16_t heading, magHold;
 
-extern int32_t EstAlt;
 extern int32_t AltHold;
 extern int32_t EstAlt;
 extern int32_t vario;

src/main/flight/imu.c

@@ -54,19 +54,9 @@ float accVelScale;
 
 int16_t smallAngle = 0;
 
-int32_t EstAlt;                // in cm
-int32_t AltHold;
-int32_t setVelocity = 0;
-uint8_t velocityControl = 0;
-int32_t errorVelocityI = 0;
-
-int32_t vario = 0;                      // variometer in cm/s
-
 float throttleAngleScale;
 float fc_acc;
 
-int32_t altHoldThrottleAdjustment = 0;
-
 float magneticDeclination = 0.0f;       // calculated at startup from config
 float gyroScaleRad;
 

src/main/flight/imu.h

@@ -17,10 +17,6 @@
 
 #pragma once
 
-extern int32_t errorVelocityI;
-extern uint8_t velocityControl;
-extern int32_t setVelocity;
-extern int32_t altHoldThrottleAdjustment;
 extern int16_t throttleAngleCorrection;
 extern uint32_t accTimeSum;
 extern int accSumCount;

src/main/flight/mixer.h

@@ -77,6 +77,7 @@ typedef struct flight3DConfig_s {
 
 typedef struct airplaneConfig_t {
     uint8_t flaps_speed;                    // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster
+    int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
 } airplaneConfig_t;
 
 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF

src/main/io/rc_controls.h

@@ -128,6 +128,13 @@ typedef struct controlRateConfig_s {
 
 extern int16_t rcCommand[4];
 
+typedef struct rcControlsConfig_s {
+    uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
+    uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
+    uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
+    uint8_t alt_hold_fast_change;           // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
+} rcControlsConfig_t;
+
 bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);

src/main/io/serial_cli.c

@@ -224,7 +224,7 @@ const clivalue_t valueTable[] = {
 
     { "flaps_speed",                VAR_UINT8  | MASTER_VALUE,  &masterConfig.airplaneConfig.flaps_speed, 0, 100 },
 
-    { "fixedwing_althold_dir",      VAR_INT8   | MASTER_VALUE,  &masterConfig.fixedwing_althold_dir, -1, 1 },
+    { "fixedwing_althold_dir",      VAR_INT8   | MASTER_VALUE,  &masterConfig.airplaneConfig.fixedwing_althold_dir, -1, 1 },
 
     { "serial_port_1_scenario",     VAR_UINT8  | MASTER_VALUE,  &masterConfig.serialConfig.serial_port_scenario[0], 0, SERIAL_PORT_SCENARIO_MAX },
     { "serial_port_2_scenario",     VAR_UINT8  | MASTER_VALUE,  &masterConfig.serialConfig.serial_port_scenario[1], 0, SERIAL_PORT_SCENARIO_MAX },
@@ -301,16 +301,15 @@ const clivalue_t valueTable[] = {
     { "gyro_cmpf_factor",           VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_cmpf_factor, 100, 1000 },
     { "gyro_cmpfm_factor",          VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_cmpfm_factor, 100, 1000 },
 
-    { "alt_hold_deadband",          VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].alt_hold_deadband, 1, 250 },
+    { "alt_hold_deadband",          VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, 1, 250 },
-    { "alt_hold_fast_change",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].alt_hold_fast_change, 0, 1 },
+    { "alt_hold_fast_change",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_fast_change, 0, 1 },
+    { "deadband",                   VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, 0, 32 },
+    { "yaw_deadband",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, 0, 100 },
 
     { "throttle_correction_value",  VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_value, 0, 150 },
     { "throttle_correction_angle",  VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, 1, 900 },
 
-    { "deadband",                   VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].deadband, 0, 32 },
-    { "yaw_deadband",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].yaw_deadband, 0, 100 },
     { "yaw_control_direction",      VAR_INT8   | MASTER_VALUE,  &masterConfig.yaw_control_direction, -1, 1 },
-
     { "yaw_direction",              VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
     { "tri_unarmed_servo",          VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
 

src/main/mw.c

@@ -47,11 +47,14 @@
 #include "io/beeper.h"
 #include "io/display.h"
 #include "io/escservo.h"
+#include "rx/rx.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "flight/mixer.h"
 #include "flight/altitudehold.h"
 #include "flight/failsafe.h"
 #include "flight/imu.h"
 #include "flight/autotune.h"
-#include "flight/mixer.h"
 #include "flight/navigation.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
@@ -59,9 +62,6 @@
 #include "io/serial_cli.h"
 #include "io/serial.h"
 #include "io/statusindicator.h"
-#include "rx/rx.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
 #include "rx/msp.h"
 #include "telemetry/telemetry.h"
 
@@ -178,9 +178,9 @@ void annexCode(void)
     for (axis = 0; axis < 3; axis++) {
         tmp = min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
         if (axis == ROLL || axis == PITCH) {
-            if (currentProfile->deadband) {
+            if (currentProfile->rcControlsConfig.deadband) {
-                if (tmp > currentProfile->deadband) {
+                if (tmp > currentProfile->rcControlsConfig.deadband) {
-                    tmp -= currentProfile->deadband;
+                    tmp -= currentProfile->rcControlsConfig.deadband;
                 } else {
                     tmp = 0;
                 }
@@ -191,9 +191,9 @@ void annexCode(void)
             prop1 = 100 - (uint16_t)currentControlRateProfile->rollPitchRate * tmp / 500;
             prop1 = (uint16_t)prop1 * prop2 / 100;
         } else if (axis == YAW) {
-            if (currentProfile->yaw_deadband) {
+            if (currentProfile->rcControlsConfig.yaw_deadband) {
-                if (tmp > currentProfile->yaw_deadband) {
+                if (tmp > currentProfile->rcControlsConfig.yaw_deadband) {
-                    tmp -= currentProfile->yaw_deadband;
+                    tmp -= currentProfile->rcControlsConfig.yaw_deadband;
                 } else {
                     tmp = 0;
                 }
@@ -636,7 +636,7 @@ void loop(void)
 #if defined(BARO) || defined(SONAR)
         if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
             if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
-                applyAltHold();
+                applyAltHold(&masterConfig.airplaneConfig);
             }
         }
 #endif

src/test/Makefile

@@ -36,6 +36,7 @@ CXXFLAGS += -g -Wall -Wextra -pthread -ggdb3 -O0 -DUNIT_TEST
 TESTS = \
 	battery_unittest \
 	flight_imu_unittest \
+	altitude_hold_unittest \
 	gps_conversion_unittest \
 	telemetry_hott_unittest \
 	rc_controls_unittest \
@@ -105,10 +106,6 @@ battery_unittest : $(OBJECT_DIR)/sensors/battery.o $(OBJECT_DIR)/battery_unittes
 
 
 
-$(OBJECT_DIR)/flight/altitudehold.o : $(USER_DIR)/flight/altitudehold.c $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
-	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
-
 $(OBJECT_DIR)/flight/imu.o : $(USER_DIR)/flight/imu.c $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
@@ -122,6 +119,21 @@ flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight/altitudeho
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
+
+$(OBJECT_DIR)/flight/altitudehold.o : $(USER_DIR)/flight/altitudehold.c $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
+	@mkdir -p $(dir $@)
+	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
+
+$(OBJECT_DIR)/altitude_hold_unittest.o : $(TEST_DIR)/altitude_hold_unittest.cc \
+                     $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
+	@mkdir -p $(dir $@)
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
+
+altitude_hold_unittest : $(OBJECT_DIR)/flight/altitudehold.o $(OBJECT_DIR)/altitude_hold_unittest.o $(OBJECT_DIR)/gtest_main.a
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+
+
+
 $(OBJECT_DIR)/flight/gps_conversion.o : $(USER_DIR)/flight/gps_conversion.c $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@

src/test/unit/altitude_hold_unittest.cc

@@ -0,0 +1,145 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <limits.h>
+
+#define BARO
+
+extern "C" {
+    #include "common/axis.h"
+    #include "flight/flight.h"
+
+    #include "sensors/sensors.h"
+    #include "drivers/accgyro.h"
+    #include "sensors/acceleration.h"
+    #include "sensors/barometer.h"
+
+    #include "flight/mixer.h"
+    #include "flight/mixer.h"
+
+    #include "io/escservo.h"
+    #include "rx/rx.h"
+    #include "io/rc_controls.h"
+
+    #include "config/runtime_config.h"
+
+    #include "flight/altitudehold.h"
+
+}
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+
+#define DOWNWARDS_THRUST true
+#define UPWARDS_THRUST false
+
+
+extern "C" {
+    bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
+}
+
+typedef struct inclinationExpectation_s {
+    rollAndPitchInclination_t inclination;
+    bool expectDownwardsThrust;
+} inclinationExpectation_t;
+
+TEST(AltitudeHoldTest, IsThrustFacingDownwards)
+{
+    // given
+
+    inclinationExpectation_t inclinationExpectations[] = {
+            { { 0, 0 }, DOWNWARDS_THRUST },
+            { { 799, 799 }, DOWNWARDS_THRUST },
+            { { 800, 799 }, UPWARDS_THRUST },
+            { { 799, 800 }, UPWARDS_THRUST },
+            { { 800, 800 }, UPWARDS_THRUST },
+            { { 801, 801 }, UPWARDS_THRUST },
+            { { -799, -799 }, DOWNWARDS_THRUST },
+            { { -800, -799 }, UPWARDS_THRUST },
+            { { -799, -800 }, UPWARDS_THRUST },
+            { { -800, -800 }, UPWARDS_THRUST },
+            { { -801, -801 }, UPWARDS_THRUST }
+    };
+    uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
+
+    // expect
+
+    for (uint8_t index = 0; index < testIterationCount; index ++) {
+        inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
+        printf("iteration: %d\n", index);
+        bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
+        EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
+    }
+}
+
+// STUBS
+
+extern "C" {
+uint32_t rcModeActivationMask;
+int16_t rcCommand[4];
+
+uint32_t accTimeSum ;        // keep track for integration of acc
+int accSumCount;
+float accVelScale;
+
+rollAndPitchInclination_t inclination;
+
+//uint16_t acc_1G;
+//int16_t heading;
+//gyro_t gyro;
+int32_t accSum[XYZ_AXIS_COUNT];
+//int16_t magADC[XYZ_AXIS_COUNT];
+int32_t BaroAlt;
+int16_t debug[4];
+
+uint8_t stateFlags;
+uint16_t flightModeFlags;
+uint8_t armingFlags;
+
+int32_t sonarAlt;
+
+
+void gyroGetADC(void) {};
+bool sensors(uint32_t mask)
+{
+    UNUSED(mask);
+    return false;
+};
+void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
+{
+    UNUSED(rollAndPitchTrims);
+}
+
+void accSum_reset(void) {};
+
+int32_t applyDeadband(int32_t, int32_t) { return 0; }
+uint32_t micros(void) { return 0; }
+bool isBaroCalibrationComplete(void) { return true; }
+void performBaroCalibrationCycle(void) {}
+int32_t baroCalculateAltitude(void) { return 0; }
+int constrain(int amt, int low, int high)
+{
+    UNUSED(amt);
+    UNUSED(low);
+    UNUSED(high);
+    return 0;
+}
+
+}

src/test/unit/flight_imu_unittest.cc

@@ -25,7 +25,6 @@
 extern "C" {
     #include "common/axis.h"
     #include "flight/flight.h"
-    #include "flight/altitudehold.h"
 
     #include "sensors/sensors.h"
     #include "drivers/accgyro.h"
@@ -47,47 +46,17 @@ extern "C" {
 #define UPWARDS_THRUST false
 
 
-extern "C" {
+TEST(FlightImuTest, Placeholder)
-    bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
-}
-
-typedef struct inclinationExpectation_s {
-    rollAndPitchInclination_t inclination;
-    bool expectDownwardsThrust;
-} inclinationExpectation_t;
-
-TEST(FlightImuTest, IsThrustFacingDownwards)
 {
-    // given
+    // TODO test things
-
+    EXPECT_EQ(true, true);
-    inclinationExpectation_t inclinationExpectations[] = {
-            { { 0, 0 }, DOWNWARDS_THRUST },
-            { { 799, 799 }, DOWNWARDS_THRUST },
-            { { 800, 799 }, UPWARDS_THRUST },
-            { { 799, 800 }, UPWARDS_THRUST },
-            { { 800, 800 }, UPWARDS_THRUST },
-            { { 801, 801 }, UPWARDS_THRUST },
-            { { -799, -799 }, DOWNWARDS_THRUST },
-            { { -800, -799 }, UPWARDS_THRUST },
-            { { -799, -800 }, UPWARDS_THRUST },
-            { { -800, -800 }, UPWARDS_THRUST },
-            { { -801, -801 }, UPWARDS_THRUST }
-    };
-    uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
-
-    // expect
-
-    for (uint8_t index = 0; index < testIterationCount; index ++) {
-        inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
-        printf("iteration: %d\n", index);
-        bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
-        EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
-    }
 }
 
 // STUBS
 
 extern "C" {
+uint32_t rcModeActivationMask;
+int16_t rcCommand[4];
 
 uint16_t acc_1G;
 int16_t heading;
@@ -114,6 +83,8 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
     UNUSED(rollAndPitchTrims);
 }
 
+int32_t applyDeadband(int32_t, int32_t) { return 0; }
+
 uint32_t micros(void) { return 0; }
 bool isBaroCalibrationComplete(void) { return true; }
 void performBaroCalibrationCycle(void) {}