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First cut of custom motor and servo mixer test.

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Note: The test is rather heavyweight, more like an integration test than
a unit test, but will allow for the underlying code to be refactored.
This commit is contained in:
Dominic Clifton 2015-07-14 23:02:32 +01:00
parent 4fc7d517bf
commit 5be2276b6b
4 changed files with 187 additions and 40 deletions
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40
src/main/flight/mixer.c
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@ -53,44 +53,9 @@
#include "config/runtime_config.h"
#include "config/config.h"
typedef enum {
SERVO_GIMBAL_PITCH = 0,
SERVO_GIMBAL_ROLL = 1,
SERVO_FLAPS = 2,
SERVO_FLAPPERON_1 = 3,
SERVO_FLAPPERON_2 = 4,
SERVO_RUDDER = 5,
SERVO_ELEVATOR = 6,
SERVO_THROTTLE = 7, // for internal combustion (IC) planes
SERVO_BICOPTER_LEFT = 4,
SERVO_BICOPTER_RIGHT = 5,
SERVO_DUALCOPTER_LEFT = 4,
SERVO_DUALCOPTER_RIGHT = 5,
SERVO_SINGLECOPTER_1 = 3,
SERVO_SINGLECOPTER_2 = 4,
SERVO_SINGLECOPTER_3 = 5,
SERVO_SINGLECOPTER_4 = 6,
} servoIndex_e;
#define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
#define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
#define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
#define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
#define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
#define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
//#define MIXER_DEBUG
uint8_t motorCount = 0;
uint8_t motorCount;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@ -449,6 +414,7 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
{
int i;
motorCount = 0;
servoCount = pwmOutputConfiguration->servoCount;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
@ -695,7 +661,7 @@ void StopPwmAllMotors()
}
#ifndef USE_QUAD_MIXER_ONLY
static void servoMixer(void)
STATIC_UNIT_TESTED void servoMixer(void)
{
int16_t input[INPUT_SOURCE_COUNT]; // Range [-500:+500]
static int16_t currentOutput[MAX_SERVO_RULES];