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Reworked arming conditions.

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This commit is contained in:
mikeller 2017-06-19 00:40:59 +12:00
parent fb0429597f
commit 31df82db2d
20 changed files with 149 additions and 107 deletions
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1
src/test/Makefile
View file

@ -70,6 +70,7 @@ encoding_unittest_SRC := \
flight_failsafe_unittest_SRC := \
$(USER_DIR)/common/bitarray.c \
$(USER_DIR)/fc/rc_modes.c \
$(USER_DIR)/fc/runtime_config.c \
$(USER_DIR)/flight/failsafe.c

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

@ -30,6 +30,7 @@ extern "C" {
#include "target.h"
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "fc/runtime_config.h"
void cmsMenuOpen(void);
long cmsMenuBack(displayPort_t *pDisplay);
uint16_t cmsHandleKey(displayPort_t *pDisplay, uint8_t key);
@ -141,4 +142,6 @@ void saveConfigAndNotify(void) {}
void stopMotors(void) {}
void stopPwmAllMotors(void) {}
void systemReset(void) {}
void setArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
void unsetArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
}

37
src/test/unit/flight_failsafe_unittest.cc
View file

@ -49,7 +49,6 @@ extern "C" {
#include "gtest/gtest.h"
uint32_t testFeatureMask = 0;
uint16_t flightModeFlags = 0;
uint16_t testMinThrottle = 0;
throttleStatus_e throttleStatus = THROTTLE_HIGH;
@ -203,7 +202,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
EXPECT_EQ(true, failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_TRUE(isArmingDisabled());
// given
failsafeOnValidDataFailed(); // set last invalid sample at current time
@ -217,7 +216,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
EXPECT_EQ(true, failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_TRUE(isArmingDisabled());
// given
sysTickUptime += PERIOD_OF_30_SECONDS + 1; // adjust time to point just past the required additional recovery time
@ -230,7 +229,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_FALSE(isArmingDisabled());
}
/****************************************************************************************/
@ -269,7 +268,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
EXPECT_EQ(true, failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_TRUE(isArmingDisabled());
// given
failsafeOnValidDataFailed(); // set last invalid sample at current time
@ -283,7 +282,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
EXPECT_EQ(true, failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_TRUE(isArmingDisabled());
// given
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
@ -296,7 +295,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_FALSE(isArmingDisabled());
}
/****************************************************************************************/
@ -325,7 +324,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
// then
EXPECT_EQ(true, failsafeIsActive());
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
@ -342,7 +341,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
// then
EXPECT_EQ(true, failsafeIsActive());
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
@ -357,7 +356,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_FALSE(isArmingDisabled());
}
/****************************************************************************************/
@ -406,14 +405,13 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_FALSE(isArmingDisabled());
}
// STUBS
extern "C" {
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint8_t armingFlags;
float rcCommand[4];
int16_t debug[DEBUG16_VALUE_COUNT];
bool isUsingSticksToArm = true;
@ -437,7 +435,7 @@ bool feature(uint32_t mask) {
return (mask & testFeatureMask);
}
void mwDisarm(void) {
void disarm(void) {
callCounts[COUNTER_MW_DISARM]++;
}
@ -445,18 +443,6 @@ void beeper(beeperMode_e mode) {
UNUSED(mode);
}
uint16_t enableFlightMode(flightModeFlags_e mask)
{
flightModeFlags |= (mask);
return flightModeFlags;
}
uint16_t disableFlightMode(flightModeFlags_e mask)
{
flightModeFlags &= ~(mask);
return flightModeFlags;
}
uint16_t getCurrentMinthrottle(void)
{
return testMinThrottle;
@ -467,4 +453,5 @@ bool isUsingSticksForArming(void)
return isUsingSticksToArm;
}
void beeperConfirmationBeeps(uint8_t beepCount) { UNUSED(beepCount); }
}

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

@ -382,4 +382,6 @@ bool sensors(uint32_t mask)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {};
bool isArmingDisabled(void) { return false; }
}

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

@ -574,4 +574,7 @@ extern "C" {
UNUSED(pDisplay);
return false;
}
void setArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
void unsetArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
}

4
src/test/unit/rc_controls_unittest.cc
View file

@ -679,8 +679,8 @@ 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 tryArm(void) {}
void disarm(void) {}
void dashboardDisablePageCycling() {}
void dashboardEnablePageCycling() {}