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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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37
src/test/unit/flight_failsafe_unittest.cc
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@ -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); }
}