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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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43
src/test/unit/flight_imu_unittest.cc
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@ -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) {}