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Code Issues Wiki Activity

Fix failsafe timings and behaviour to match Failsafe.md

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This commit is contained in:
Steve Evans 2022-03-02 00:30:04 +00:00
parent a6207a100e
commit 07f6bea174
18 changed files with 214 additions and 136 deletions
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30
src/test/unit/flight_failsafe_unittest.cc
View file

@ -183,7 +183,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
failsafeOnValidDataReceived(); // set last valid sample at current time
// when
for (sysTickUptime = 0; sysTickUptime < (uint32_t)(PERIOD_RXDATA_FAILURE + failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND); sysTickUptime++) {
for (sysTickUptime = 0; sysTickUptime < (uint32_t)(failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND); sysTickUptime++) {
failsafeOnValidDataFailed();
failsafeUpdateState();
@ -237,7 +237,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
EXPECT_TRUE(isArmingDisabled());
// given
sysTickUptime += PERIOD_OF_30_SECONDS + 1; // adjust time to point just past the required additional recovery time
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
failsafeOnValidDataReceived();
// when
@ -361,7 +361,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeKill)
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// given
sysTickUptime += PERIOD_OF_1_SECONDS + 1; // adjust time to point just past the required additional recovery time
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
failsafeOnValidDataReceived();
// when
@ -435,8 +435,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
failsafeUpdateState(); // should activate stage2 immediately
// then
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_TRUE(failsafeIsActive()); // stick induced failsafe allows re-arming
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
@ -456,7 +455,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// given
sysTickUptime += PERIOD_OF_30_SECONDS + 1; // adjust time to point just past the required additional recovery time
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
// and
deactivateBoxFailsafe();
@ -497,7 +496,7 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
sysTickUptime = 0; // restart time from 0
failsafeOnValidDataReceived(); // set last valid sample at current time
// when
// enter stage 1 failsafe
for (sysTickUptime = 0; sysTickUptime < PERIOD_RXDATA_FAILURE; sysTickUptime++) {
failsafeOnValidDataFailed();
@ -520,10 +519,20 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled());
EXPECT_FALSE(isArmingDisabled()); // arming not blocked in stage 1
// given
// enough valid data is received
// add enough time to enter stage 2
sysTickUptime += failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND + 1;
failsafeOnValidDataFailed();
// when
failsafeUpdateState();
// then
EXPECT_TRUE(isArmingDisabled()); // arming blocked until recovery time
EXPECT_FALSE(failsafeIsActive()); // failsafe is still not active
// given valid data is received for the recovery time, allow re-arming
uint32_t sysTickTarget = sysTickUptime + PERIOD_RXDATA_RECOVERY;
for (; sysTickUptime < sysTickTarget; sysTickUptime++) {
failsafeOnValidDataReceived();
@ -546,6 +555,7 @@ extern "C" {
float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
float rcCommand[4];
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;
bool isUsingSticksToArm = true;
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);

3
src/test/unit/link_quality_unittest.cc
View file

@ -45,6 +45,7 @@ extern "C" {
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
@ -86,6 +87,7 @@ extern "C" {
PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
timeUs_t simulationTime = 0;
@ -502,6 +504,7 @@ extern "C" {
void persistentObjectWrite(persistentObjectId_e, uint32_t) {}
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
uint32_t failsafeFailurePeriodMs(void) { return 400; }
void featureDisableImmediate(uint32_t) { }
bool rxMspFrameComplete(void) { return false; }
bool isPPMDataBeingReceived(void) { return false; }

12
src/test/unit/rx_ranges_unittest.cc
View file

@ -25,11 +25,13 @@ extern "C" {
#include "build/debug.h"
#include "drivers/io.h"
#include "common/maths.h"
#include "flight/failsafe.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "rx/rx.h"
}
@ -39,10 +41,12 @@ extern "C" {
extern "C" {
PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
boxBitmask_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;
uint8_t armingFlags = 0;
extern float applyRxChannelRangeConfiguraton(float sample, const rxChannelRangeConfig_t *range);
}
@ -107,8 +111,11 @@ extern "C" {
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
bool failsafeIsActive(void) { return false; }
bool failsafeIsReceivingRxData(void) { return true; }
bool taskUpdateRxMainInProgress() { return true; }
void setArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
void unsetArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
uint32_t micros(void) { return 0; }
uint32_t millis(void) { return 0; }
@ -225,6 +232,11 @@ void failsafeOnValidDataFailed(void)
{
}
uint32_t failsafeFailurePeriodMs(void)
{
return 400;
}
float pt1FilterGain(float f_cut, float dT)
{
UNUSED(f_cut);

8
src/test/unit/rx_rx_unittest.cc
View file

@ -27,6 +27,8 @@ extern "C" {
#include "build/debug.h"
#include "drivers/io.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "rx/rx.h"
#include "fc/rc_modes.h"
#include "common/maths.h"
@ -39,6 +41,7 @@ extern "C" {
boxBitmask_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;
uint8_t armingFlags = 0;
bool isPulseValid(uint16_t pulseDuration);
@ -47,6 +50,7 @@ extern "C" {
);
PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
}
#include "unittest_macros.h"
@ -210,7 +214,9 @@ extern "C" {
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
bool failsafeIsActive(void) { return false; }
bool failsafeIsReceivingRxData(void) { return true; }
uint32_t failsafeFailurePeriodMs(void) { return 400; }
uint32_t micros(void) { return 0; }
uint32_t millis(void) { return 0; }
@ -236,6 +242,8 @@ extern "C" {
void xBusInit(const rxConfig_t *, rxRuntimeState_t *) {}
void rxMspInit(const rxConfig_t *, rxRuntimeState_t *) {}
void rxPwmInit(const rxConfig_t *, rxRuntimeState_t *) {}
void setArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
void unsetArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
bool taskUpdateRxMainInProgress() { return true; }
float pt1FilterGain(float f_cut, float dT)
{

2
src/test/unit/scheduler_unittest.cc
View file

@ -74,7 +74,7 @@ extern "C" {
uint32_t simulatedTime = 0;
uint32_t micros(void) { return simulatedTime; }
uint32_t millis(void) { return simulatedTime/1000; } // Note simplistic mapping suitable only for short unit tests
uint32_t clockCyclesToMicros(uint32_t x) { return x/10;}
int32_t clockCyclesToMicros(int32_t x) { return x/10;}
int32_t clockCyclesTo10thMicros(int32_t x) { return x;}
uint32_t clockMicrosToCycles(uint32_t x) { return x*10;}
uint32_t getCycleCounter(void) {return simulatedTime * 10;}