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GPS Rescue: allow arming without GPS fix (refactor)

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This commit is contained in:
Tony Cabello 2018-12-31 13:03:32 +01:00
parent 4778ad6c0f
commit 007e14f348
6 changed files with 165 additions and 45 deletions
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116
src/test/unit/arming_prevention_unittest.cc
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@ -616,7 +616,7 @@ TEST(ArmingPreventionTest, WhenUsingSwitched3DModeThenNormalThrottleArmingCondit
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, Rescue)
TEST(ArmingPreventionTest, GPSRescueWithoutFixPreventsArm)
{
// given
simulationFeatureFlags = 0;
@ -637,6 +637,120 @@ TEST(ArmingPreventionTest, Rescue)
// and
rxConfigMutable()->mincheck = 1050;
// given
rcData[THROTTLE] = 1000;
rcData[AUX1] = 1000;
rcData[AUX2] = 1000;
ENABLE_STATE(SMALL_ANGLE);
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_GPS, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// arm
rcData[AUX1] = 1800;
// when
tryArm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH|ARMING_DISABLED_GPS, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// disarm
rcData[AUX1] = 1000;
// when
disarm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_GPS, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// receive GPS fix
ENABLE_STATE(GPS_FIX);
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// arm
rcData[AUX1] = 1800;
// when
tryArm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// disarm
rcData[AUX1] = 1000;
// when
disarm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
}
TEST(ArmingPreventionTest, GPSRescueSwitchPreventsArm)
{
// given
simulationFeatureFlags = 0;
simulationTime = 0;
gyroCalibDone = true;
gpsSol.numSat = 5;
ENABLE_STATE(GPS_FIX);
// and
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
modeActivationConditionsMutable(0)->modeId = BOXARM;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(1)->auxChannelIndex = 1;
modeActivationConditionsMutable(1)->modeId = BOXGPSRESCUE;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
rcControlsInit();
// and
rxConfigMutable()->mincheck = 1050;
// given
rcData[THROTTLE] = 1000;
rcData[AUX1] = 1000;