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Add Test_zero_p_interval to BlackboxTest

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This commit is contained in:
fgiudice98 2020-05-18 15:27:45 +02:00
parent b063cb4e90
commit 21ee720e0f
1 changed files with 21 additions and 0 deletions
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21
src/test/unit/blackbox_unittest.cc
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@ -202,6 +202,27 @@ TEST(BlackboxTest, Test_8kHz)
EXPECT_TRUE(blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
} }
TEST(BlackboxTest, Test_zero_p_interval)
{
blackboxConfigMutable()->p_ratio = 4;
// 250Hz PIDloop
targetPidLooptime = 4000;
blackboxInit();
EXPECT_EQ(8, blackboxIInterval);
EXPECT_EQ(0, blackboxPInterval);
EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_FALSE(blackboxShouldLogPFrame());
for (int ii = 0; ii < 7; ++ii) {
blackboxAdvanceIterationTimers();
EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_FALSE(blackboxShouldLogPFrame());
}
blackboxAdvanceIterationTimers();
EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_FALSE(blackboxShouldLogPFrame());
}
TEST(BlackboxTest, Test_CalculatePDenom) TEST(BlackboxTest, Test_CalculatePDenom)
{ {
blackboxConfigMutable()->sample_rate = 0; blackboxConfigMutable()->sample_rate = 0;