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Altitude hold for 4.6 (#13816)

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ctzsnooze 2024-09-04 20:29:03 +10:00 • committed by GitHub
parent 350510603c
commit 254da8f460
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46 changed files with 805 additions and 108 deletions
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8
src/test/unit/flight_failsafe_unittest.cc
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@ -81,7 +81,7 @@ void configureFailsafe(void)
rxConfigMutable()->mincheck = TEST_MIN_CHECK;
failsafeConfigMutable()->failsafe_delay = 10; // 1 second
failsafeConfigMutable()->failsafe_off_delay = 15; // 1.5 seconds
failsafeConfigMutable()->failsafe_landing_time = 1; // 1.0 seconds
failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_STAGE1;
failsafeConfigMutable()->failsafe_throttle = 1200;
failsafeConfigMutable()->failsafe_throttle_low_delay = 100; // 10 seconds
@ -233,7 +233,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
// note this test follows on from the previous test
{
// exceed the stage 2 landing time
sysTickUptime += (failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND);
sysTickUptime += (failsafeConfig()->failsafe_landing_time * MILLIS_PER_SECOND);
failsafeOnValidDataFailed(); // confirm that we still have no valid data
// when
@ -572,8 +572,8 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
// should stay in landing for failsafe_off_delay (stage 2 period) of 1s
sysTickUptime += failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
// should stay in landing for failsafe_landing_time (stage 2 landing period) of 1s
sysTickUptime += failsafeConfig()->failsafe_landing_time * MILLIS_PER_SECOND;
// when
failsafeUpdateState();