Implemented actual tests.

src/test/unit/maths_unittest.cc

@@ -23,70 +23,110 @@
 #define BARO
 
 extern "C" {
-    #include "common/axis.h"
-    #include "flight/flight.h"
-
-    #include "sensors/sensors.h"
-    #include "drivers/sensor.h"
-    #include "drivers/accgyro.h"
-    #include "drivers/compass.h"
-    #include "sensors/gyro.h"
-    #include "sensors/compass.h"
-    #include "sensors/acceleration.h"
-    #include "sensors/barometer.h"
+    #include "common/maths.h"
 
     #include "config/runtime_config.h"
-
-    #include "flight/mixer.h"
-    #include "flight/imu.h"
 }
 
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
 
-#define DOWNWARDS_THRUST true
-#define UPWARDS_THRUST false
-
-
-TEST(MathsUnittest, Placeholder)
+TEST(MathsUnittest, TestConstrain)
 {
-    // TODO test things
-    EXPECT_EQ(true, true);
+    // Within bounds.
+    EXPECT_EQ(constrain(1, 0, 2), 1);
+
+    // Equal to bottom bound.
+    EXPECT_EQ(constrain(1, 1, 2), 1);
+    // Equal to top bound.
+    EXPECT_EQ(constrain(1, 0, 1), 1);
+
+    // Equal to both bottom and top bound.
+    EXPECT_EQ(constrain(1, 1, 1), 1);
+
+    // Above top bound.
+    EXPECT_EQ(constrain(2, 0, 1), 1);
+    // Below bottom bound.
+    EXPECT_EQ(constrain(0, 1, 2), 1);
+
+    // Above bouth bounds.
+    EXPECT_EQ(constrain(2, 0, 1), 1);
+    // Below bouth bounds.
+    EXPECT_EQ(constrain(0, 1, 2), 1);
 }
 
-// STUBS
-
-extern "C" {
-uint32_t rcModeActivationMask;
-int16_t rcCommand[4];
-
-uint16_t acc_1G;
-int16_t heading;
-gyro_t gyro;
-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)
+TEST(MathsUnittest, TestConstrainf)
 {
-    UNUSED(mask);
-    return false;
-};
-void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
-{
-    UNUSED(rollAndPitchTrims);
+    // Within bounds.
+    EXPECT_EQ(constrainf(1.0f, 0.0f, 2.0f), 1.0f);
+
+    // Equal to bottom bound.
+    EXPECT_EQ(constrainf(1.0f, 1.0f, 2.0f), 1.0f);
+    // Equal to top bound.
+    EXPECT_EQ(constrainf(1.0f, 0.0f, 1.0f), 1.0f);
+
+    // Equal to both bottom and top bound.
+    EXPECT_EQ(constrainf(1.0f, 1.0f, 1.0f), 1.0f);
+
+    // Above top bound.
+    EXPECT_EQ(constrainf(2.0f, 0.0f, 1.0f), 1.0f);
+    // Below bottom bound.
+    EXPECT_EQ(constrainf(0, 1.0f, 2.0f), 1.0f);
+
+    // Above bouth bounds.
+    EXPECT_EQ(constrainf(2.0f, 0.0f, 1.0f), 1.0f);
+    // Below bouth bounds.
+    EXPECT_EQ(constrainf(0, 1.0f, 2.0f), 1.0f);
 }
 
-uint32_t micros(void) { return 0; }
-bool isBaroCalibrationComplete(void) { return true; }
-void performBaroCalibrationCycle(void) {}
-int32_t baroCalculateAltitude(void) { return 0; }
+TEST(MathsUnittest, TestDegreesToRadians)
+{
+    EXPECT_EQ(degreesToRadians(0), 0.0f);
+    EXPECT_EQ(degreesToRadians(90), 0.5f * M_PIf);
+    EXPECT_EQ(degreesToRadians(180), M_PIf);
+    EXPECT_EQ(degreesToRadians(-180), - M_PIf);
+}
+
+TEST(MathsUnittest, TestApplyDeadband)
+{
+    EXPECT_EQ(applyDeadband(0, 0), 0);
+    EXPECT_EQ(applyDeadband(1, 0), 1);
+    EXPECT_EQ(applyDeadband(-1, 0), -1);
+
+    EXPECT_EQ(applyDeadband(0, 10), 0);
+    EXPECT_EQ(applyDeadband(1, 10), 0);
+    EXPECT_EQ(applyDeadband(10, 10), 0);
+
+    EXPECT_EQ(applyDeadband(11, 10), 1);
+    EXPECT_EQ(applyDeadband(-11, 10), -1);
+}
+
+void expectVectorsAreEqual(struct fp_vector *a, struct fp_vector *b)
+{
+    EXPECT_EQ(a->X, b->X);
+    EXPECT_EQ(a->Y, b->Y);
+    EXPECT_EQ(a->Z, b->Z);
+}
+
+TEST(MathsUnittest, TestRotateVectorWithNoAngle)
+{
+    fp_vector vector = {1.0f, 0.0f, 0.0f};
+    fp_angles_t euler_angles = {.raw={0.0f, 0.0f, 0.0f}};
+
+    rotateV(&vector, &euler_angles);
+    fp_vector expected_result = {1.0f, 0.0f, 0.0f};
+
+    expectVectorsAreEqual(&vector, &expected_result);
+}
+
+TEST(MathsUnittest, TestRotateVectorAroundAxis)
+{
+    // Rotate a vector <1, 0, 0> around an each axis x y and z.
+    fp_vector vector = {1.0f, 0.0f, 0.0f};
+    fp_angles_t euler_angles = {.raw={90.0f, 0.0f, 0.0f}};
+
+    rotateV(&vector, &euler_angles);
+    fp_vector expected_result = {1.0f, 0.0f, 0.0f};
+
+    expectVectorsAreEqual(&vector, &expected_result);
 }