120 lines
3.1 KiB
C++
120 lines
3.1 KiB
C++
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
#include <limits.h>
|
|
|
|
#define BARO
|
|
|
|
|
|
// FIXME this giant list of includes (below) and stubs (bottom) indicates there is too much going on in flight_imu.c and that it needs decoupling and breaking up.
|
|
|
|
#include "common/axis.h"
|
|
#include "flight_common.h"
|
|
|
|
#include "sensors_common.h"
|
|
#include "drivers/accgyro_common.h"
|
|
#include "sensors_gyro.h"
|
|
#include "sensors_compass.h"
|
|
#include "sensors_acceleration.h"
|
|
#include "sensors_barometer.h"
|
|
|
|
#include "gps_common.h"
|
|
|
|
#include "gimbal.h"
|
|
#include "flight_mixer.h"
|
|
|
|
// FIXME remove dependency on config.h
|
|
#include "boardalignment.h"
|
|
#include "battery.h"
|
|
#include "escservo.h"
|
|
#include "rc_controls.h"
|
|
#include "rx_common.h"
|
|
#include "drivers/serial_common.h"
|
|
#include "serial_common.h"
|
|
#include "telemetry_common.h"
|
|
#include "failsafe.h"
|
|
#include "runtime_config.h"
|
|
#include "config.h"
|
|
#include "config_profile.h"
|
|
#include "config_master.h"
|
|
|
|
|
|
#include "flight_imu.h"
|
|
|
|
#include "unittest_macros.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
#define DOWNWARDS_THRUST true
|
|
#define UPWARDS_THRUST false
|
|
|
|
|
|
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
|
|
|
|
typedef struct inclinationExpectation_s {
|
|
rollAndPitchInclination_t inclination;
|
|
bool expectDownwardsThrust;
|
|
} inclinationExpectation_t;
|
|
|
|
TEST(FlightImuTest, 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
|
|
|
|
uint16_t acc_1G;
|
|
profile_t currentProfile;
|
|
master_t masterConfig;
|
|
int16_t heading;
|
|
flags_t f;
|
|
gyro_t gyro;
|
|
int16_t magADC[XYZ_AXIS_COUNT];
|
|
int32_t BaroAlt;
|
|
|
|
void gyroGetADC(void) {};
|
|
bool sensors(uint32_t mask)
|
|
{
|
|
UNUSED(mask);
|
|
return false;
|
|
};
|
|
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
|
|
{
|
|
UNUSED(rollAndPitchTrims);
|
|
}
|
|
|
|
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;
|
|
}
|