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Merge pull request #7158 from TonyBlit/gps_rescue_armed_check

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Arm prevention if Rescue is activated
This commit is contained in:
Michael Keller 2018-12-03 21:52:42 +13:00 • committed by GitHub
commit 8e9462e251
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 135 additions and 11 deletions
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3
src/test/Makefile
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@ -39,6 +39,9 @@ arming_prevention_unittest_SRC := \
$(USER_DIR)/fc/runtime_config.c \
$(USER_DIR)/common/bitarray.c
arming_prevention_unittest_DEFINES := \
USE_GPS_RESCUE=
atomic_unittest_SRC := \
$(USER_DIR)/build/atomic.c \
$(TEST_DIR)/atomic_unittest_c.c

114
src/test/unit/arming_prevention_unittest.cc
View file

@ -43,6 +43,7 @@ extern "C" {
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "telemetry/telemetry.h"
#include "flight/gps_rescue.h"
PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
@ -54,6 +55,7 @@ extern "C" {
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
float rcCommand[4];
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
@ -612,6 +614,118 @@ TEST(ArmingPreventionTest, WhenUsingSwitched3DModeThenNormalThrottleArmingCondit
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, Rescue)
{
// given
simulationFeatureFlags = 0;
simulationTime = 0;
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 = BOXGPSRESCUE;
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;
// given
rcData[THROTTLE] = 1000;
rcData[AUX1] = 1000;
rcData[AUX2] = 1800; // Start out with rescue enabled
ENABLE_STATE(SMALL_ANGLE);
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_RESC, getArmingDisableFlags());
EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// arm
rcData[AUX1] = 1800;
// when
tryArm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH|ARMING_DISABLED_RESC, getArmingDisableFlags());
EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// disarm
rcData[AUX1] = 1000;
// when
disarm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_RESC, getArmingDisableFlags());
EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// disable Rescue
rcData[AUX2] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// arm
rcData[AUX1] = 1800;
// when
tryArm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
// given
// disarm
rcData[AUX1] = 1000;
// when
disarm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXGPSRESCUE));
}
TEST(ArmingPreventionTest, ParalyzeOnAtBoot)
{
// given