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Merge pull request #4516 from DanNixon/fix_3d_arm_checks

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Improve 3D arming checks
This commit is contained in:
Michael Keller 2017-11-11 11:24:44 +13:00 • committed by GitHub
commit 60bce27e66
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 279 additions and 7 deletions
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262
src/test/unit/arming_prevention_unittest.cc
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@ -65,6 +65,7 @@ extern "C" {
bool cmsInMenu = false;
}
uint32_t simulationFeatureFlags = 0;
uint32_t simulationTime = 0;
bool gyroCalibDone = false;
bool simulationHaveRx = false;
@ -160,6 +161,7 @@ TEST(ArmingPreventionTest, CalibrationPowerOnGraceAngleThrottleArmSwitch)
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
{
// given
@ -346,13 +348,271 @@ TEST(ArmingPreventionTest, RadioTurnedOnAtAnyTimeArmed)
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadband)
{
// given
simulationFeatureFlags = FEATURE_3D; // Using 3D mode
simulationTime = 30e6; // 30 seconds after boot
gyroCalibDone = true;
// and
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
modeActivationConditionsMutable(0)->modeId = BOXARM;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->midrc = 1500;
flight3DConfigMutable()->deadband3d_throttle = 5;
// and
rcData[THROTTLE] = 1400;
ENABLE_STATE(SMALL_ANGLE);
simulationHaveRx = true;
// and
// arm channel has a safe default value
rcData[4] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// attempt to arm
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// throttle moved to centre
rcData[THROTTLE] = 1496;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionApplies)
{
// given
simulationFeatureFlags = FEATURE_3D; // Using 3D mode
simulationTime = 30e6; // 30 seconds after boot
gyroCalibDone = true;
// and
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
modeActivationConditionsMutable(0)->modeId = BOXARM;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(1)->auxChannelIndex = 1;
modeActivationConditionsMutable(1)->modeId = BOX3DDISABLE;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->mincheck = 1050;
rxConfigMutable()->midrc = 1500;
flight3DConfigMutable()->deadband3d_throttle = 5;
// and
// safe throttle value for 3D mode
rcData[THROTTLE] = 1500;
ENABLE_STATE(SMALL_ANGLE);
simulationHaveRx = true;
// and
// arm channel has a safe default value
rcData[4] = 1100;
// and
// disable 3D mode is off (i.e. 3D mode is on)
rcData[5] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// ok to arm in 3D mode
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// disable 3D mode
rcData[5] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// ok to arm in 3D mode
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// attempt to arm
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// throttle moved low
rcData[THROTTLE] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// arm switch turned off
rcData[4] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, WhenUsingSwitched3DModeThenNormalThrottleArmingConditionApplies)
{
// given
simulationFeatureFlags = FEATURE_3D; // Using 3D mode
simulationTime = 30e6; // 30 seconds after boot
gyroCalibDone = true;
// and
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
modeActivationConditionsMutable(0)->modeId = BOXARM;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(1)->auxChannelIndex = 1;
modeActivationConditionsMutable(1)->modeId = BOX3DONASWITCH;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->mincheck = 1050;
// and
rcData[THROTTLE] = 1000;
ENABLE_STATE(SMALL_ANGLE);
simulationHaveRx = true;
// and
// arm channel has a safe default value
rcData[4] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// ok to arm in 3D mode
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// raise throttle to unsafe position
rcData[THROTTLE] = 1500;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// ok to arm in 3D mode
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// attempt to arm
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// throttle moved low
rcData[THROTTLE] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// arm switch turned off
rcData[4] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
}
// STUBS
extern "C" {
uint32_t micros(void) { return simulationTime; }
uint32_t millis(void) { return micros() / 1000; }
bool rxIsReceivingSignal(void) { return simulationHaveRx; }
bool feature(uint32_t) { return false; }
bool feature(uint32_t f) { return simulationFeatureFlags & f; }
void warningLedFlash(void) {}
void warningLedDisable(void) {}
void warningLedUpdate(void) {}