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First unit test for tricoper servo mixer.

This commit is contained in:
Dominic Clifton 2015-03-19 00:16:50 +01:00
parent c1a0ae16b7
commit 84c7c985ab
1 changed files with 85 additions and 2 deletions
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87
src/test/unit/flight_mixer_unittest.cc
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@ -28,6 +28,7 @@ extern "C" {
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/pwm_mapping.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
@ -38,11 +39,27 @@ extern "C" {
#include "flight/mixer.h"
#include "flight/lowpass.h"
#include "io/escservo.h"
#include "io/gimbal.h"
#include "io/rc_controls.h"
extern uint8_t servoCount;
void forwardAuxChannelsToServos(void);
void mixerUseConfigs(
#ifdef USE_SERVOS
servoParam_t *servoConfToUse,
gimbalConfig_t *gimbalConfigToUse,
#endif
flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse,
mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse,
rxConfig_t *rxConfigToUse
);
void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers);
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
}
#include "unittest_macros.h"
@ -61,6 +78,8 @@ servo_t servos[MAX_SUPPORTED_SERVOS];
uint8_t lastOneShotUpdateMotorCount;
uint32_t testFeatureMask = 0;
TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithNoServos)
{
@ -134,6 +153,70 @@ TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithLessServosThanAuxChannel
EXPECT_EQ(servos[1].value, 1250);
}
TEST(FlightMixerTest, TestTricopterServo)
{
// given
mixerConfig_t mixerConfig;
memset(&mixerConfig, 0, sizeof(mixerConfig));
mixerConfig.tri_unarmed_servo = 1;
escAndServoConfig_t escAndServoConfig;
memset(&escAndServoConfig, 0, sizeof(escAndServoConfig));
escAndServoConfig.mincommand = 1000;
servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
memset(&servoConf, 0, sizeof(servoConf));
servoConf[5].min = DEFAULT_SERVO_MIN;
servoConf[5].max = DEFAULT_SERVO_MAX;
servoConf[5].middle = DEFAULT_SERVO_MIDDLE;
servoConf[5].rate = 100;
servoConf[5].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
gimbalConfig_t gimbalConfig = {
.gimbal_flags = 0
};
mixerUseConfigs(
servoConf,
&gimbalConfig,
NULL,
&escAndServoConfig,
&mixerConfig,
NULL,
NULL
);
motorMixer_t customMixer[MAX_SUPPORTED_MOTORS];
memset(&customMixer, 0, sizeof(customMixer));
mixerInit(MIXER_TRI, customMixer);
// and
pwmOutputConfiguration_t pwmOutputConfiguration = {
.servoCount = 1,
.motorCount = 3
};
mixerUsePWMOutputConfiguration(&pwmOutputConfiguration);
// and
memset(rcCommand, 0, sizeof(rcCommand));
// and
memset(axisPID, 0, sizeof(axisPID));
axisPID[YAW] = 0;
// when
mixTable();
writeServos();
// then
EXPECT_EQ(servos[0].value, 1500);
}
// STUBS
extern "C" {
@ -153,8 +236,8 @@ uint8_t armingFlags;
void delay(uint32_t) {}
bool feature(uint32_t) {
return true;
bool feature(uint32_t mask) {
return (mask & testFeatureMask);
}
int32_t lowpassFixed(lowpass_t *, int32_t, int16_t) {