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Code Issues Wiki Activity

Finally rename flight.c/.h to pid.c/.h. Cleanup some dependencies.

Browse source 
Relocate more code.
This commit is contained in:
Dominic Clifton 2015-02-01 00:39:38 +01:00
parent 8cc9e8ca37
commit 55cac2bdeb
32 changed files with 101 additions and 93 deletions
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20
src/test/unit/altitude_hold_unittest.cc
View file

@ -24,25 +24,27 @@
extern "C" {
#include "common/axis.h"
#include "flight/flight.h"
#include "common/maths.h"
#include "sensors/sensors.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "sensors/sensors.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 "rx/rx.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/altitudehold.h"
#include "config/runtime_config.h"
}
#include "unittest_macros.h"
@ -148,7 +150,7 @@ uint8_t armingFlags;
int32_t sonarAlt;
void gyroGetADC(void) {};
void gyroUpdate(void) {};
bool sensors(uint32_t mask)
{
UNUSED(mask);
@ -159,7 +161,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
UNUSED(rollAndPitchTrims);
}
void accSum_reset(void) {};
void imuResetAccelerationSum(void) {};
int32_t applyDeadband(int32_t, int32_t) { return 0; }
uint32_t micros(void) { return 0; }

17
src/test/unit/flight_imu_unittest.cc
View file

@ -25,7 +25,6 @@
extern "C" {
#include "common/axis.h"
#include "common/maths.h"
#include "flight/flight.h"
#include "sensors/sensors.h"
#include "drivers/sensor.h"
@ -39,6 +38,7 @@ extern "C" {
#include "config/runtime_config.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
}
@ -53,19 +53,19 @@ TEST(FlightImuTest, TestCalculateHeading)
{
//TODO: Add test cases using the Z dimension.
t_fp_vector north = {.A={1.0f, 0.0f, 0.0f}};
EXPECT_EQ(calculateHeading(&north), 0);
EXPECT_EQ(imuCalculateHeading(&north), 0);
t_fp_vector east = {.A={0.0f, 1.0f, 0.0f}};
EXPECT_EQ(calculateHeading(&east), 90);
EXPECT_EQ(imuCalculateHeading(&east), 90);
t_fp_vector south = {.A={-1.0f, 0.0f, 0.0f}};
EXPECT_EQ(calculateHeading(&south), 180);
EXPECT_EQ(imuCalculateHeading(&south), 180);
t_fp_vector west = {.A={0.0f, -1.0f, 0.0f}};
EXPECT_EQ(calculateHeading(&west), 270);
EXPECT_EQ(imuCalculateHeading(&west), 270);
t_fp_vector north_east = {.A={1.0f, 1.0f, 0.0f}};
EXPECT_EQ(calculateHeading(&north_east), 45);
EXPECT_EQ(imuCalculateHeading(&north_east), 45);
}
// STUBS
@ -86,9 +86,12 @@ uint16_t flightModeFlags;
uint8_t armingFlags;
int32_t sonarAlt;
int16_t accADC[XYZ_AXIS_COUNT];
int16_t gyroADC[XYZ_AXIS_COUNT];
void gyroGetADC(void) {};
void gyroUpdate(void) {};
bool sensors(uint32_t mask)
{
UNUSED(mask);

1
src/test/unit/ledstrip_unittest.cc
View file

@ -24,7 +24,6 @@ extern "C" {
#include "common/color.h"
#include "common/axis.h"
#include "flight/flight.h"
#include "sensors/battery.h"
#include "config/runtime_config.h"

14
src/test/unit/rc_controls_unittest.cc
View file

@ -20,14 +20,24 @@
extern "C" {
#include "platform.h"
#include "common/maths.h"
#include "common/axis.h"
#include "flight/flight.h"
#include "rx/rx.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "rx/rx.h"
#include "flight/pid.h"
}
#include "unittest_macros.h"
#include "gtest/gtest.h"

13
src/test/unit/telemetry_hott_unittest.cc
View file

@ -27,22 +27,21 @@ extern "C" {
#include "common/axis.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "config/runtime_config.h"
#include "sensors/sensors.h"
#include "flight/flight.h"
#include "io/gps.h"
#include "sensors/battery.h"
#include "io/serial.h"
#include "io/gps.h"
#include "telemetry/telemetry.h"
#include "telemetry/hott.h"
#include "flight/pid.h"
#include "flight/gps_conversion.h"
#include "config/runtime_config.h"
}
#include "unittest_macros.h"