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Decouple altitudehold.c from config.c. Update flight_imu_unittest and

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altitude_hold_unittest.
This commit is contained in:
Dominic Clifton 2014-11-03 20:03:21 +01:00
parent f8b13d7c62
commit 503e7a0817
15 changed files with 243 additions and 121 deletions
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20
src/test/Makefile
View file

@ -36,6 +36,7 @@ CXXFLAGS += -g -Wall -Wextra -pthread -ggdb3 -O0 -DUNIT_TEST
TESTS = \
battery_unittest \
flight_imu_unittest \
altitude_hold_unittest \
gps_conversion_unittest \
telemetry_hott_unittest \
rc_controls_unittest \
@ -105,10 +106,6 @@ battery_unittest : $(OBJECT_DIR)/sensors/battery.o $(OBJECT_DIR)/battery_unittes
$(OBJECT_DIR)/flight/altitudehold.o : $(USER_DIR)/flight/altitudehold.c $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
$(OBJECT_DIR)/flight/imu.o : $(USER_DIR)/flight/imu.c $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
@ -122,6 +119,21 @@ flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight/altitudeho
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/altitudehold.o : $(USER_DIR)/flight/altitudehold.c $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
$(OBJECT_DIR)/altitude_hold_unittest.o : $(TEST_DIR)/altitude_hold_unittest.cc \
$(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
altitude_hold_unittest : $(OBJECT_DIR)/flight/altitudehold.o $(OBJECT_DIR)/altitude_hold_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/gps_conversion.o : $(USER_DIR)/flight/gps_conversion.c $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@

145
src/test/unit/altitude_hold_unittest.cc Normal file
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@ -0,0 +1,145 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include <stdbool.h>
#include <limits.h>
#define BARO
extern "C" {
#include "common/axis.h"
#include "flight/flight.h"
#include "sensors/sensors.h"
#include "drivers/accgyro.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "flight/mixer.h"
#include "flight/mixer.h"
#include "io/escservo.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "config/runtime_config.h"
#include "flight/altitudehold.h"
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
#define DOWNWARDS_THRUST true
#define UPWARDS_THRUST false
extern "C" {
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
}
typedef struct inclinationExpectation_s {
rollAndPitchInclination_t inclination;
bool expectDownwardsThrust;
} inclinationExpectation_t;
TEST(AltitudeHoldTest, IsThrustFacingDownwards)
{
// given
inclinationExpectation_t inclinationExpectations[] = {
{ { 0, 0 }, DOWNWARDS_THRUST },
{ { 799, 799 }, DOWNWARDS_THRUST },
{ { 800, 799 }, UPWARDS_THRUST },
{ { 799, 800 }, UPWARDS_THRUST },
{ { 800, 800 }, UPWARDS_THRUST },
{ { 801, 801 }, UPWARDS_THRUST },
{ { -799, -799 }, DOWNWARDS_THRUST },
{ { -800, -799 }, UPWARDS_THRUST },
{ { -799, -800 }, UPWARDS_THRUST },
{ { -800, -800 }, UPWARDS_THRUST },
{ { -801, -801 }, UPWARDS_THRUST }
};
uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
printf("iteration: %d\n", index);
bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
}
}
// STUBS
extern "C" {
uint32_t rcModeActivationMask;
int16_t rcCommand[4];
uint32_t accTimeSum ; // keep track for integration of acc
int accSumCount;
float accVelScale;
rollAndPitchInclination_t inclination;
//uint16_t acc_1G;
//int16_t heading;
//gyro_t gyro;
int32_t accSum[XYZ_AXIS_COUNT];
//int16_t magADC[XYZ_AXIS_COUNT];
int32_t BaroAlt;
int16_t debug[4];
uint8_t stateFlags;
uint16_t flightModeFlags;
uint8_t armingFlags;
int32_t sonarAlt;
void gyroGetADC(void) {};
bool sensors(uint32_t mask)
{
UNUSED(mask);
return false;
};
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
UNUSED(rollAndPitchTrims);
}
void accSum_reset(void) {};
int32_t applyDeadband(int32_t, int32_t) { return 0; }
uint32_t micros(void) { return 0; }
bool isBaroCalibrationComplete(void) { return true; }
void performBaroCalibrationCycle(void) {}
int32_t baroCalculateAltitude(void) { return 0; }
int constrain(int amt, int low, int high)
{
UNUSED(amt);
UNUSED(low);
UNUSED(high);
return 0;
}
}

43
src/test/unit/flight_imu_unittest.cc
View file

@ -25,7 +25,6 @@
extern "C" {
#include "common/axis.h"
#include "flight/flight.h"
#include "flight/altitudehold.h"
#include "sensors/sensors.h"
#include "drivers/accgyro.h"
@ -47,47 +46,17 @@ extern "C" {
#define UPWARDS_THRUST false
extern "C" {
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
}
typedef struct inclinationExpectation_s {
rollAndPitchInclination_t inclination;
bool expectDownwardsThrust;
} inclinationExpectation_t;
TEST(FlightImuTest, IsThrustFacingDownwards)
TEST(FlightImuTest, Placeholder)
{
// given
inclinationExpectation_t inclinationExpectations[] = {
{ { 0, 0 }, DOWNWARDS_THRUST },
{ { 799, 799 }, DOWNWARDS_THRUST },
{ { 800, 799 }, UPWARDS_THRUST },
{ { 799, 800 }, UPWARDS_THRUST },
{ { 800, 800 }, UPWARDS_THRUST },
{ { 801, 801 }, UPWARDS_THRUST },
{ { -799, -799 }, DOWNWARDS_THRUST },
{ { -800, -799 }, UPWARDS_THRUST },
{ { -799, -800 }, UPWARDS_THRUST },
{ { -800, -800 }, UPWARDS_THRUST },
{ { -801, -801 }, UPWARDS_THRUST }
};
uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
printf("iteration: %d\n", index);
bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
}
// TODO test things
EXPECT_EQ(true, true);
}
// STUBS
extern "C" {
uint32_t rcModeActivationMask;
int16_t rcCommand[4];
uint16_t acc_1G;
int16_t heading;
@ -114,6 +83,8 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
UNUSED(rollAndPitchTrims);
}
int32_t applyDeadband(int32_t, int32_t) { return 0; }
uint32_t micros(void) { return 0; }
bool isBaroCalibrationComplete(void) { return true; }
void performBaroCalibrationCycle(void) {}