mirror of
https://github.com/betaflight/betaflight.git
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Got unit tests working by removing non-working tests
This commit is contained in:
Martin Budden
parent
1d6240c9d5
commit
2e71ac3b84
22 changed files with 94 additions and 36 deletions
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@ -1,717 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <limits.h>
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//#define DEBUG_RC_CONTROLS
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extern "C" {
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#include "platform.h"
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#include "common/maths.h"
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#include "common/axis.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "io/beeper.h"
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#include "io/escservo.h"
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#include "io/rc_controls.h"
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#include "rx/rx.h"
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#include "flight/pid.h"
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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extern "C" {
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extern void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfig, pidProfile_t *pidProfile);
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}
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class RcControlsModesTest : public ::testing::Test {
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protected:
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modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
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virtual void SetUp() {
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memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
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}
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};
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TEST_F(RcControlsModesTest, updateActivatedModesWithAllInputsAtMidde)
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{
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// given
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rcModeActivationMask = 0;
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// and
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memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
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rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
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// and
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uint8_t index;
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for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
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rcData[index] = PWM_RANGE_MIDDLE;
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}
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// when
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updateActivatedModes(modeActivationConditions);
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// then
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for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
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#ifdef DEBUG_RC_CONTROLS
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printf("iteration: %d\n", index);
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#endif
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EXPECT_EQ(false, IS_RC_MODE_ACTIVE(index));
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}
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}
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TEST_F(RcControlsModesTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues)
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{
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// given
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modeActivationConditions[0].modeId = (boxId_e)0;
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modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(1700);
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modeActivationConditions[0].range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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modeActivationConditions[1].modeId = (boxId_e)1;
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modeActivationConditions[1].auxChannelIndex = AUX2 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[1].range.startStep = CHANNEL_VALUE_TO_STEP(1300);
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modeActivationConditions[1].range.endStep = CHANNEL_VALUE_TO_STEP(1700);
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modeActivationConditions[2].modeId = (boxId_e)2;
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modeActivationConditions[2].auxChannelIndex = AUX3 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[2].range.startStep = CHANNEL_VALUE_TO_STEP(900);
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modeActivationConditions[2].range.endStep = CHANNEL_VALUE_TO_STEP(1200);
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modeActivationConditions[3].modeId = (boxId_e)3;
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modeActivationConditions[3].auxChannelIndex = AUX4 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[3].range.startStep = CHANNEL_VALUE_TO_STEP(900);
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modeActivationConditions[3].range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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modeActivationConditions[4].modeId = (boxId_e)4;
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modeActivationConditions[4].auxChannelIndex = AUX5 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[4].range.startStep = CHANNEL_VALUE_TO_STEP(900);
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modeActivationConditions[4].range.endStep = CHANNEL_VALUE_TO_STEP(925);
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EXPECT_EQ(0, modeActivationConditions[4].range.startStep);
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EXPECT_EQ(1, modeActivationConditions[4].range.endStep);
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modeActivationConditions[5].modeId = (boxId_e)5;
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modeActivationConditions[5].auxChannelIndex = AUX6 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[5].range.startStep = CHANNEL_VALUE_TO_STEP(2075);
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modeActivationConditions[5].range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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EXPECT_EQ(47, modeActivationConditions[5].range.startStep);
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EXPECT_EQ(48, modeActivationConditions[5].range.endStep);
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modeActivationConditions[6].modeId = (boxId_e)6;
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modeActivationConditions[6].auxChannelIndex = AUX7 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[6].range.startStep = CHANNEL_VALUE_TO_STEP(925);
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modeActivationConditions[6].range.endStep = CHANNEL_VALUE_TO_STEP(950);
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EXPECT_EQ(1, modeActivationConditions[6].range.startStep);
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EXPECT_EQ(2, modeActivationConditions[6].range.endStep);
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// and
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rcModeActivationMask = 0;
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// and
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memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
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rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
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// and
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uint8_t index;
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for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
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rcData[index] = PWM_RANGE_MIDDLE;
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}
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rcData[AUX1] = PWM_RANGE_MAX;
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rcData[AUX2] = PWM_RANGE_MIDDLE;
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rcData[AUX3] = PWM_RANGE_MIN;
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rcData[AUX4] = PWM_RANGE_MAX;
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rcData[AUX5] = 899; // value lower that range minimum should be treated the same as the lowest range value
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rcData[AUX6] = 2101; // value higher than the range maximum should be treated the same as the highest range value
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rcData[AUX7] = 950; // value equal to range step upper boundary should not activate the mode
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// and
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uint32_t expectedMask = 0;
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expectedMask |= (1 << 0);
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expectedMask |= (1 << 1);
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expectedMask |= (1 << 2);
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expectedMask |= (1 << 3);
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expectedMask |= (1 << 4);
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expectedMask |= (1 << 5);
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expectedMask |= (0 << 6);
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// when
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updateActivatedModes(modeActivationConditions);
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// then
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for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
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#ifdef DEBUG_RC_CONTROLS
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printf("iteration: %d\n", index);
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#endif
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EXPECT_EQ(expectedMask & (1 << index), rcModeActivationMask & (1 << index));
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}
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}
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enum {
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COUNTER_GENERATE_PITCH_ROLL_CURVE = 0,
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COUNTER_QUEUE_CONFIRMATION_BEEP,
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COUNTER_CHANGE_CONTROL_RATE_PROFILE
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};
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#define CALL_COUNT_ITEM_COUNT 3
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static int callCounts[CALL_COUNT_ITEM_COUNT];
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#define CALL_COUNTER(item) (callCounts[item])
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extern "C" {
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void generatePitchRollCurve(controlRateConfig_t *) {
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callCounts[COUNTER_GENERATE_PITCH_ROLL_CURVE]++;
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}
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void beeperConfirmationBeeps(uint8_t) {
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callCounts[COUNTER_QUEUE_CONFIRMATION_BEEP]++;
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}
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void beeper(beeperMode_e mode) {
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UNUSED(mode);
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}
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void changeControlRateProfile(uint8_t) {
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callCounts[COUNTER_CHANGE_CONTROL_RATE_PROFILE]++;
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}
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}
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void resetCallCounters(void) {
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memset(&callCounts, 0, sizeof(callCounts));
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}
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uint32_t fixedMillis;
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extern "C" {
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uint32_t millis(void) {
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return fixedMillis;
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}
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}
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void resetMillis(void) {
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fixedMillis = 0;
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}
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#define DEFAULT_MIN_CHECK 1100
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#define DEFAULT_MAX_CHECK 1900
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rxConfig_t rxConfig;
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extern uint8_t adjustmentStateMask;
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extern adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
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static const adjustmentConfig_t rateAdjustmentConfig = {
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.adjustmentFunction = ADJUSTMENT_RC_RATE,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { { 1 } }
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};
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class RcControlsAdjustmentsTest : public ::testing::Test {
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protected:
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controlRateConfig_t controlRateConfig = {
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.rcRate8 = 90,
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.rcExpo8 = 0,
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.thrMid8 = 0,
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.thrExpo8 = 0,
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.rates = {0, 0, 0},
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.dynThrPID = 0,
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.rcYawExpo8 = 0,
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.tpa_breakpoint = 0
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};
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virtual void SetUp() {
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adjustmentStateMask = 0;
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memset(&adjustmentStates, 0, sizeof(adjustmentStates));
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memset(&rxConfig, 0, sizeof (rxConfig));
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rxConfig.mincheck = DEFAULT_MIN_CHECK;
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rxConfig.maxcheck = DEFAULT_MAX_CHECK;
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rxConfig.midrc = 1500;
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controlRateConfig.rcRate8 = 90;
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controlRateConfig.rcExpo8 = 0;
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controlRateConfig.thrMid8 = 0;
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controlRateConfig.thrExpo8 = 0;
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controlRateConfig.rcYawExpo8 = 0;
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controlRateConfig.rates[0] = 0;
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controlRateConfig.rates[1] = 0;
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controlRateConfig.rates[2] = 0;
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controlRateConfig.dynThrPID = 0;
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controlRateConfig.tpa_breakpoint = 0;
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}
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};
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TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
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{
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// given
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configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
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// and
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uint8_t index;
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for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
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rcData[index] = PWM_RANGE_MIDDLE;
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}
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// and
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resetCallCounters();
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resetMillis();
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// when
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processRcAdjustments(&controlRateConfig, &rxConfig);
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// then
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EXPECT_EQ(controlRateConfig.rcRate8, 90);
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EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 0);
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EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 0);
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EXPECT_EQ(adjustmentStateMask, 0);
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}
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TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
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{
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// given
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controlRateConfig_t controlRateConfig = {
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.rcRate8 = 90,
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.rcExpo8 = 0,
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.thrMid8 = 0,
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.thrExpo8 = 0,
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.rates = {0,0,0},
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.dynThrPID = 0,
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.rcYawExpo8 = 0,
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.tpa_breakpoint = 0
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};
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// and
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memset(&rxConfig, 0, sizeof (rxConfig));
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rxConfig.mincheck = DEFAULT_MIN_CHECK;
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rxConfig.maxcheck = DEFAULT_MAX_CHECK;
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rxConfig.midrc = 1500;
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// and
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adjustmentStateMask = 0;
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memset(&adjustmentStates, 0, sizeof(adjustmentStates));
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configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
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// and
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uint8_t index;
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for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
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rcData[index] = PWM_RANGE_MIDDLE;
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}
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// and
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resetCallCounters();
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resetMillis();
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// and
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rcData[AUX3] = PWM_RANGE_MAX;
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// and
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uint8_t expectedAdjustmentStateMask =
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(1 << 0);
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// and
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fixedMillis = 496;
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// when
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processRcAdjustments(&controlRateConfig, &rxConfig);
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// then
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EXPECT_EQ(controlRateConfig.rcRate8, 91);
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EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 1);
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EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
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EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
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//
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// now pretend a short amount of time has passed, but not enough time to allow the value to have been increased
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//
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// given
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fixedMillis = 497;
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// when
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processRcAdjustments(&controlRateConfig, &rxConfig);
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EXPECT_EQ(controlRateConfig.rcRate8, 91);
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EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
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//
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// moving the switch back to the middle should immediately reset the state flag without increasing the value
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//
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// given
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rcData[AUX3] = PWM_RANGE_MIDDLE;
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// and
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fixedMillis = 498;
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// and
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expectedAdjustmentStateMask = adjustmentStateMask &
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~(1 << 0);
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// when
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processRcAdjustments(&controlRateConfig, &rxConfig);
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EXPECT_EQ(controlRateConfig.rcRate8, 91);
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EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
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//
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// flipping the switch again, before the state reset would have occurred, allows the value to be increased again
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// given
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rcData[AUX3] = PWM_RANGE_MAX;
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// and
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expectedAdjustmentStateMask =
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(1 << 0);
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// and
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fixedMillis = 499;
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// when
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processRcAdjustments(&controlRateConfig, &rxConfig);
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// then
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EXPECT_EQ(controlRateConfig.rcRate8, 92);
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EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 2);
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EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 2);
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EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
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//
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// leaving the switch up, after the original timer would have reset the state should now NOT cause
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// the rate to increase, it should only increase after another 500ms from when the state was reset.
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//
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// given
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fixedMillis = 500;
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// when
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processRcAdjustments(&controlRateConfig, &rxConfig);
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// then
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EXPECT_EQ(controlRateConfig.rcRate8, 92);
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EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
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//
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// should still not be able to be increased
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//
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// given
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fixedMillis = 997;
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// when
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processRcAdjustments(&controlRateConfig, &rxConfig);
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// then
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EXPECT_EQ(controlRateConfig.rcRate8, 92);
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EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
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//
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// 500ms has now passed since the switch was returned to the middle, now that
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// switch is still in the UP position after the timer has elapses it should
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// be increased again.
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//
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// given
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fixedMillis = 998;
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// when
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processRcAdjustments(&controlRateConfig, &rxConfig);
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// then
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EXPECT_EQ(controlRateConfig.rcRate8, 93);
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EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 3);
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EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3);
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EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
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}
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static const adjustmentConfig_t rateProfileAdjustmentConfig = {
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.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
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.mode = ADJUSTMENT_MODE_SELECT,
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.data = { { 3 } }
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};
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TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
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{
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// given
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int adjustmentIndex = 3;
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configureAdjustment(adjustmentIndex, AUX4 - NON_AUX_CHANNEL_COUNT, &rateProfileAdjustmentConfig);
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// and
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uint8_t index;
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for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
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rcData[index] = PWM_RANGE_MIDDLE;
|
||||
}
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// and
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resetCallCounters();
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||||
resetMillis();
|
||||
|
||||
// and
|
||||
rcData[AUX4] = PWM_RANGE_MAX;
|
||||
|
||||
// and
|
||||
uint8_t expectedAdjustmentStateMask =
|
||||
(1 << adjustmentIndex);
|
||||
|
||||
// when
|
||||
processRcAdjustments(&controlRateConfig, &rxConfig);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
|
||||
EXPECT_EQ(CALL_COUNTER(COUNTER_CHANGE_CONTROL_RATE_PROFILE), 1);
|
||||
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
|
||||
}
|
||||
|
||||
static const adjustmentConfig_t pidPitchAndRollPAdjustmentConfig = {
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { { 1 } }
|
||||
};
|
||||
|
||||
static const adjustmentConfig_t pidPitchAndRollIAdjustmentConfig = {
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { { 1 } }
|
||||
};
|
||||
|
||||
static const adjustmentConfig_t pidPitchAndRollDAdjustmentConfig = {
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { { 1 } }
|
||||
};
|
||||
|
||||
static const adjustmentConfig_t pidYawPAdjustmentConfig = {
|
||||
.adjustmentFunction = ADJUSTMENT_YAW_P,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { { 1 } }
|
||||
};
|
||||
|
||||
static const adjustmentConfig_t pidYawIAdjustmentConfig = {
|
||||
.adjustmentFunction = ADJUSTMENT_YAW_I,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { { 1 } }
|
||||
};
|
||||
|
||||
static const adjustmentConfig_t pidYawDAdjustmentConfig = {
|
||||
.adjustmentFunction = ADJUSTMENT_YAW_D,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { { 1 } }
|
||||
};
|
||||
|
||||
TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
|
||||
{
|
||||
// given
|
||||
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
|
||||
memset(&modeActivationConditions, 0, sizeof (modeActivationConditions));
|
||||
|
||||
escAndServoConfig_t escAndServoConfig;
|
||||
memset(&escAndServoConfig, 0, sizeof (escAndServoConfig));
|
||||
|
||||
pidProfile_t pidProfile;
|
||||
memset(&pidProfile, 0, sizeof (pidProfile));
|
||||
pidProfile.pidController = 0;
|
||||
pidProfile.P8[PIDPITCH] = 0;
|
||||
pidProfile.P8[PIDROLL] = 5;
|
||||
pidProfile.P8[YAW] = 7;
|
||||
pidProfile.I8[PIDPITCH] = 10;
|
||||
pidProfile.I8[PIDROLL] = 15;
|
||||
pidProfile.I8[YAW] = 17;
|
||||
pidProfile.D8[PIDPITCH] = 20;
|
||||
pidProfile.D8[PIDROLL] = 25;
|
||||
pidProfile.D8[YAW] = 27;
|
||||
|
||||
// and
|
||||
controlRateConfig_t controlRateConfig;
|
||||
memset(&controlRateConfig, 0, sizeof (controlRateConfig));
|
||||
|
||||
configureAdjustment(0, AUX1 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollPAdjustmentConfig);
|
||||
configureAdjustment(1, AUX2 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollIAdjustmentConfig);
|
||||
configureAdjustment(2, AUX3 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollDAdjustmentConfig);
|
||||
configureAdjustment(3, AUX1 - NON_AUX_CHANNEL_COUNT, &pidYawPAdjustmentConfig);
|
||||
configureAdjustment(4, AUX2 - NON_AUX_CHANNEL_COUNT, &pidYawIAdjustmentConfig);
|
||||
configureAdjustment(5, AUX3 - NON_AUX_CHANNEL_COUNT, &pidYawDAdjustmentConfig);
|
||||
|
||||
// and
|
||||
uint8_t index;
|
||||
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
|
||||
rcData[index] = PWM_RANGE_MIDDLE;
|
||||
}
|
||||
|
||||
// and
|
||||
resetCallCounters();
|
||||
resetMillis();
|
||||
|
||||
// and
|
||||
rcData[AUX1] = PWM_RANGE_MAX;
|
||||
rcData[AUX2] = PWM_RANGE_MAX;
|
||||
rcData[AUX3] = PWM_RANGE_MAX;
|
||||
|
||||
// and
|
||||
uint8_t expectedAdjustmentStateMask =
|
||||
(1 << 0) |
|
||||
(1 << 1) |
|
||||
(1 << 2) |
|
||||
(1 << 3) |
|
||||
(1 << 4) |
|
||||
(1 << 5);
|
||||
|
||||
// when
|
||||
useRcControlsConfig(modeActivationConditions, &escAndServoConfig, &pidProfile);
|
||||
processRcAdjustments(&controlRateConfig, &rxConfig);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 6);
|
||||
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
|
||||
|
||||
// and
|
||||
EXPECT_EQ(1, pidProfile.P8[PIDPITCH]);
|
||||
EXPECT_EQ(6, pidProfile.P8[PIDROLL]);
|
||||
EXPECT_EQ(8, pidProfile.P8[YAW]);
|
||||
EXPECT_EQ(11, pidProfile.I8[PIDPITCH]);
|
||||
EXPECT_EQ(16, pidProfile.I8[PIDROLL]);
|
||||
EXPECT_EQ(18, pidProfile.I8[YAW]);
|
||||
EXPECT_EQ(21, pidProfile.D8[PIDPITCH]);
|
||||
EXPECT_EQ(26, pidProfile.D8[PIDROLL]);
|
||||
EXPECT_EQ(28, pidProfile.D8[YAW]);
|
||||
}
|
||||
|
||||
TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
|
||||
{
|
||||
// given
|
||||
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
|
||||
memset(&modeActivationConditions, 0, sizeof (modeActivationConditions));
|
||||
|
||||
escAndServoConfig_t escAndServoConfig;
|
||||
memset(&escAndServoConfig, 0, sizeof (escAndServoConfig));
|
||||
|
||||
pidProfile_t pidProfile;
|
||||
memset(&pidProfile, 0, sizeof (pidProfile));
|
||||
pidProfile.pidController = 2;
|
||||
pidProfile.P_f[PIDPITCH] = 0.0f;
|
||||
pidProfile.P_f[PIDROLL] = 5.0f;
|
||||
pidProfile.P_f[PIDYAW] = 7.0f;
|
||||
pidProfile.I_f[PIDPITCH] = 10.0f;
|
||||
pidProfile.I_f[PIDROLL] = 15.0f;
|
||||
pidProfile.I_f[PIDYAW] = 17.0f;
|
||||
pidProfile.D_f[PIDPITCH] = 20.0f;
|
||||
pidProfile.D_f[PIDROLL] = 25.0f;
|
||||
pidProfile.D_f[PIDYAW] = 27.0f;
|
||||
|
||||
// and
|
||||
controlRateConfig_t controlRateConfig;
|
||||
memset(&controlRateConfig, 0, sizeof (controlRateConfig));
|
||||
|
||||
configureAdjustment(0, AUX1 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollPAdjustmentConfig);
|
||||
configureAdjustment(1, AUX2 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollIAdjustmentConfig);
|
||||
configureAdjustment(2, AUX3 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollDAdjustmentConfig);
|
||||
configureAdjustment(3, AUX1 - NON_AUX_CHANNEL_COUNT, &pidYawPAdjustmentConfig);
|
||||
configureAdjustment(4, AUX2 - NON_AUX_CHANNEL_COUNT, &pidYawIAdjustmentConfig);
|
||||
configureAdjustment(5, AUX3 - NON_AUX_CHANNEL_COUNT, &pidYawDAdjustmentConfig);
|
||||
|
||||
// and
|
||||
uint8_t index;
|
||||
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
|
||||
rcData[index] = PWM_RANGE_MIDDLE;
|
||||
}
|
||||
|
||||
// and
|
||||
resetCallCounters();
|
||||
resetMillis();
|
||||
|
||||
// and
|
||||
rcData[AUX1] = PWM_RANGE_MAX;
|
||||
rcData[AUX2] = PWM_RANGE_MAX;
|
||||
rcData[AUX3] = PWM_RANGE_MAX;
|
||||
|
||||
// and
|
||||
uint8_t expectedAdjustmentStateMask =
|
||||
(1 << 0) |
|
||||
(1 << 1) |
|
||||
(1 << 2) |
|
||||
(1 << 3) |
|
||||
(1 << 4) |
|
||||
(1 << 5);
|
||||
|
||||
// when
|
||||
useRcControlsConfig(modeActivationConditions, &escAndServoConfig, &pidProfile);
|
||||
processRcAdjustments(&controlRateConfig, &rxConfig);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 6);
|
||||
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
|
||||
|
||||
// and
|
||||
EXPECT_EQ(0.01f, pidProfile.P_f[PIDPITCH]);
|
||||
EXPECT_EQ(5.01f, pidProfile.P_f[PIDROLL]);
|
||||
EXPECT_EQ(7.01f, pidProfile.P_f[PIDYAW]);
|
||||
EXPECT_EQ(10.01f, pidProfile.I_f[PIDPITCH]);
|
||||
EXPECT_EQ(15.01f, pidProfile.I_f[PIDROLL]);
|
||||
EXPECT_EQ(17.01f, pidProfile.I_f[PIDYAW]);
|
||||
EXPECT_EQ(20.001f, pidProfile.D_f[PIDPITCH]);
|
||||
EXPECT_EQ(25.001f, pidProfile.D_f[PIDROLL]);
|
||||
EXPECT_EQ(27.001f, pidProfile.D_f[PIDYAW]);
|
||||
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
void saveConfigAndNotify(void) {}
|
||||
void generateThrottleCurve(controlRateConfig_t *, escAndServoConfig_t *) {}
|
||||
void changeProfile(uint8_t) {}
|
||||
void accSetCalibrationCycles(uint16_t) {}
|
||||
void gyroSetCalibrationCycles(uint16_t) {}
|
||||
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
|
||||
void handleInflightCalibrationStickPosition(void) {}
|
||||
bool feature(uint32_t) { return false;}
|
||||
bool sensors(uint32_t) { return false;}
|
||||
void mwArm(void) {}
|
||||
void mwDisarm(void) {}
|
||||
void displayDisablePageCycling() {}
|
||||
void displayEnablePageCycling() {}
|
||||
|
||||
bool failsafeIsActive() { return false; }
|
||||
bool rxIsReceivingSignal() { return true; }
|
||||
|
||||
uint8_t getCurrentControlRateProfile(void) {
|
||||
return 0;
|
||||
}
|
||||
void GPS_reset_home_position(void) {}
|
||||
void baroSetCalibrationCycles(uint16_t) {}
|
||||
|
||||
uint8_t armingFlags = 0;
|
||||
int16_t heading;
|
||||
uint8_t stateFlags = 0;
|
||||
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
rxRuntimeConfig_t rxRuntimeConfig;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue