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revert failsafe code, re-implement commented unit tests, add degrees suffix for min/max angle in rescue mode

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This commit is contained in:
s0up 2018-05-20 19:14:09 -07:00
parent cc1bb05a1e
commit 7ad65031e2
3 changed files with 19 additions and 22 deletions
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19
src/test/unit/flight_failsafe_unittest.cc
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@ -266,10 +266,9 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
// then
EXPECT_EQ(true, failsafeIsActive());
// These checks were removed as they broke with introduction of rescue mode. The failsafe code should be refactored.
//EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
//EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
//EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled());
// given
failsafeOnValidDataFailed(); // set last invalid sample at current time
@ -280,11 +279,10 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
failsafeUpdateState();
// then
// These checks were removed as they broke with introduction of rescue mode. The failsafe code should be refactored.
//EXPECT_EQ(true, failsafeIsActive());
//EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
//EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
//EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(true, failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled());
// given
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
@ -296,8 +294,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
// then
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
// These checks were removed as they broke with introduction of rescue mode. The failsafe code should be refactored.
//EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(isArmingDisabled());
}