Update unit tests.

src/main/flight/gps_conversion.c

@@ -26,9 +26,9 @@
 
 
 #define DIGIT_TO_VAL(_x)    (_x - '0')
-uint32_t GPS_coord_to_degrees(char* coordinateString)
+uint32_t GPS_coord_to_degrees(const char* coordinateString)
 {
-    char *fieldSeparator, *remainingString;
+    const char *fieldSeparator, *remainingString;
     uint8_t degress = 0, minutes = 0;
     uint16_t fractionalMinutes = 0;
     uint8_t digitIndex;

src/main/flight/gps_conversion.h

@@ -15,4 +15,4 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-uint32_t GPS_coord_to_degrees(char* s);
+uint32_t GPS_coord_to_degrees(const char* coordinateString);

src/main/io/gps.c

@@ -403,7 +403,7 @@ bool gpsNewFrame(uint8_t c)
   EOS increased the precision here, even if we think that the gps is not precise enough, with 10e5 precision it has 76cm resolution
   with 10e7 it's around 1 cm now. Increasing it further is irrelevant, since even 1cm resolution is unrealistic, however increased
   resolution also increased precision of nav calculations
-static uint32_t GPS_coord_to_degrees(char *s)
+static uint32_t GPS_coord_to_degrees(char *coordinateString)
 {
     char *p = s, *d = s;
     uint8_t min, deg = 0;

src/test/Makefile

@@ -112,16 +112,16 @@ flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight_imu_unitte
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
-$(OBJECT_DIR)/io/gps_conversion.o : $(USER_DIR)/io/gps_conversion.c $(USER_DIR)/io/gps_conversion.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/flight/gps_conversion.o : $(USER_DIR)/flight/gps_conversion.c $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/gps_conversion.c -o $@
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
 
 $(OBJECT_DIR)/gps_conversion_unittest.o : $(TEST_DIR)/gps_conversion_unittest.cc \
-                     $(USER_DIR)/io/gps_conversion.h $(GTEST_HEADERS)
+                     $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
 
-gps_conversion_unittest : $(OBJECT_DIR)/io/gps_conversion.o $(OBJECT_DIR)/gps_conversion_unittest.o $(OBJECT_DIR)/gtest_main.a
+gps_conversion_unittest : $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gps_conversion_unittest.o $(OBJECT_DIR)/gtest_main.a
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
@@ -135,5 +135,5 @@ $(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
 
-telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_hott_unittest.o $(OBJECT_DIR)/io/gps_conversion.o $(OBJECT_DIR)/gtest_main.a
+telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_hott_unittest.o $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gtest_main.a
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

src/test/unit/flight_imu_unittest.cc

@@ -84,12 +84,17 @@ TEST(FlightImuTest, IsThrustFacingDownwards)
 
 uint16_t acc_1G;
 int16_t heading;
-flags_t f;
 gyro_t gyro;
 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)

src/test/unit/gps_conversion_unittest.cc

@@ -18,7 +18,7 @@
 #include <stdint.h>
 
 #include <limits.h>
-#include "io/gps_conversion.h"
+#include "flight/gps_conversion.h"
 
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
@@ -39,7 +39,7 @@ typedef struct gpsConversionExpectation_s {
 
 TEST(GpsConversionTest, GPSCoordToDegrees_NMEA_Values)
 {
-    gpsConversionExpectation_t gpsConversionExpectations[] = {
+    const gpsConversionExpectation_t gpsConversionExpectations[] = {
         {"0.0", 0},
         {"000.0", 0},
         {"00000.0000", 0},
@@ -59,7 +59,7 @@ TEST(GpsConversionTest, GPSCoordToDegrees_NMEA_Values)
     // expect
 
     for (uint8_t index = 0; index < testIterationCount; index ++) {
-        gpsConversionExpectation_t *expectation = &gpsConversionExpectations[index];
+        const gpsConversionExpectation_t *expectation = &gpsConversionExpectations[index];
         printf("iteration: %d\n", index);
 
         uint32_t result = GPS_coord_to_degrees(expectation->coord);

src/test/unit/platform.h

@@ -18,3 +18,8 @@
 #pragma once
 
 #define BARO
+#define GPS
+#define TELEMETRY
+
+#define SERIAL_PORT_COUNT 4
+

src/test/unit/telemetry_hott_unittest.cc

@@ -41,7 +41,7 @@
 #include "telemetry/telemetry.h"
 #include "telemetry/hott.h"
 
-#include "io/gps_conversion.h"
+#include "flight/gps_conversion.h"
 
 
 #include "unittest_macros.h"
@@ -88,8 +88,8 @@ TEST(TelemetryHottTest, UpdateGPSCoordinates2)
 
     // Hampstead Heath, London
     // 51.563886, -0.159960
-    int32_t longitude = GPS_coord_to_degrees("5156.3886");
+    uint32_t longitude = GPS_coord_to_degrees("5156.3886");
-    int32_t latitude  = -GPS_coord_to_degrees("015.9960");
+    uint32_t latitude  = -GPS_coord_to_degrees("015.9960");
 
     // when
     addGPSCoordinates(hottGPSMessage, longitude, latitude);
@@ -131,7 +131,7 @@ TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
     // given
     HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
 
-    f.GPS_FIX = 1;
+    stateFlags = GPS_FIX;
     uint16_t altitudeInMeters = 1;
     GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m
 
@@ -147,8 +147,10 @@ TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
 
 int16_t debug[4];
 
+uint8_t stateFlags;
+
+
 uint8_t GPS_numSat;
-flags_t f;
 int32_t GPS_coord[2];
 uint16_t GPS_speed;                 // speed in 0.1m/s
 uint16_t GPS_distanceToHome;        // distance to home point in meters