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Merge pull request #11579 from ctzsnooze/Fix-for-GPS-Return-XY-velocity-controller

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J Blackman 2022-06-24 10:18:59 +10:00 • committed by GitHub
commit 9f2cd64100
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23 changed files with 684 additions and 497 deletions
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5
src/test/unit/arming_prevention_unittest.cc
View file

@ -72,7 +72,7 @@ extern "C" {
bool cmsInMenu = false;
float axisPID_P[3], axisPID_I[3], axisPID_D[3], axisPIDSum[3];
rxRuntimeState_t rxRuntimeState = {};
uint16_t GPS_distanceToHome = 0;
uint32_t GPS_distanceToHomeCm = 0;
int16_t GPS_directionToHome = 0;
acc_t acc = {};
bool mockIsUpright = false;
@ -1059,6 +1059,8 @@ extern "C" {
void failsafeStartMonitoring(void) {}
void failsafeUpdateState(void) {}
bool failsafeIsActive(void) { return false; }
bool failsafeIsReceivingRxData(void) { return false; }
bool rxAreFlightChannelsValid(void) { return false; }
void pidResetIterm(void) {}
void updateAdjustmentStates(void) {}
void processRcAdjustments(controlRateConfig_t *) {}
@ -1109,4 +1111,5 @@ extern "C" {
bool isMotorProtocolEnabled(void) { return true; }
void pinioBoxTaskControl(void) {}
void schedulerSetNextStateTime(timeDelta_t) {}
float pt1FilterGain(float, float) {return 0.5f;}
}

63
src/test/unit/flight_failsafe_unittest.cc
View file

@ -513,46 +513,17 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage1OrStage2Drop)
// deactivate the failsafe switch
deactivateBoxFailsafe();
// receivingRxData is immediately true
// we go directly to failsafe monitoring mode, via Landing
// because the switch also forces rxFlightChannelsValid false, emulating real failsafe
// we have two delays to deal with before we can re-arm
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// handle the first delay in rxDataRecoveryPeriod
sysTickUptime += PERIOD_RXDATA_RECOVERY;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// we should still be in failsafe monitoring mode
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// handle the second delay
sysTickUptime += PERIOD_RXDATA_RECOVERY;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// we should still be in failsafe monitoring mode
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// one tick later
// by next evaluation we should be out of failsafe
sysTickUptime ++;
// receivingRxData is immediately true because signal exists
failsafeOnValidDataReceived();
// when
// when
failsafeUpdateState();
// we should now have exited failsafe
@ -647,34 +618,10 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// handle the first delay in rxDataRecoveryPeriod
sysTickUptime += PERIOD_RXDATA_RECOVERY;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// we should still be in failsafe monitoring mode
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// handle the second delay
sysTickUptime += PERIOD_RXDATA_RECOVERY;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// we should still be in failsafe monitoring mode
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// one tick later
sysTickUptime ++;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();

1
src/test/unit/rc_controls_unittest.cc
View file

@ -626,6 +626,7 @@ void dashboardEnablePageCycling() {}
bool failsafeIsActive() { return false; }
bool rxIsReceivingSignal() { return true; }
bool failsafeIsReceivingRxData() { return true; }
uint8_t getCurrentControlRateProfileIndex(void) {
return 0;

2
src/test/unit/vtx_unittest.cc
View file

@ -152,6 +152,8 @@ extern "C" {
void failsafeStartMonitoring(void) {}
void failsafeUpdateState(void) {}
bool failsafeIsActive(void) { return false; }
bool rxAreFlightChannelsValid(void) { return false; }
bool failsafeIsReceivingRxData(void) { return false; }
void pidResetIterm(void) {}
void updateAdjustmentStates(void) {}
void processRcAdjustments(controlRateConfig_t *) {}