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Fix 3D arming checks for BOX3DDISABLE

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When FEATURE_3D is on and BOX3DDISABLE is on then the normal throttle
arming check is performed.

When FEATURE_3D is on and BOX3DDISABLE is off then the reduced 3D
throttle arming check is performed.
This commit is contained in:
Dan Nixon 2017-11-08 18:52:00 +00:00
parent eadcf42650
commit 0315005445
3 changed files with 115 additions and 8 deletions
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107
src/test/unit/arming_prevention_unittest.cc
View file

@ -161,6 +161,7 @@ TEST(ArmingPreventionTest, CalibrationPowerOnGraceAngleThrottleArmSwitch)
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
{
// given
@ -347,7 +348,7 @@ TEST(ArmingPreventionTest, RadioTurnedOnAtAnyTimeArmed)
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadbandFromNegativeSide)
TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadband)
{
// given
simulationFeatureFlags = FEATURE_3D; // Using 3D mode
@ -413,6 +414,110 @@ TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadbandFromNe
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionApplies)
{
// given
simulationFeatureFlags = FEATURE_3D; // Using 3D mode
simulationTime = 30e6; // 30 seconds after boot
gyroCalibDone = true;
// 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 = BOX3DDISABLE;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->mincheck = 1050;
rxConfigMutable()->midrc = 1500;
flight3DConfigMutable()->deadband3d_throttle = 5;
// and
// safe throttle value for 3D mode
rcData[THROTTLE] = 1500;
ENABLE_STATE(SMALL_ANGLE);
// and
// RX has no link to radio
simulationHaveRx = false;
// and
// arm channel has a safe default value
rcData[4] = 1100;
// and
// disable 3D mode is off (i.e. 3D mode is on)
rcData[5] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// ok to arm in 3D mode
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// disable 3D mode
rcData[5] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// ok to arm in 3D mode
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// attempt to arm
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// throttle moved low
rcData[THROTTLE] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// arm switch turned off
rcData[4] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
}
// STUBS
extern "C" {
uint32_t micros(void) { return simulationTime; }