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Fixed tests.

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This commit is contained in:
mikeller 2017-06-18 12:52:58 +12:00 • committed by Michael Keller
parent db006b1585
commit a10e1d05ed
4 changed files with 34 additions and 12 deletions
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17
src/test/Makefile
View file

@ -68,13 +68,18 @@ encoding_unittest_SRC := \
flight_failsafe_unittest_SRC := \ flight_failsafe_unittest_SRC := \
$(USER_DIR)/common/bitarray.c \
$(USER_DIR)/fc/rc_modes.c \
$(USER_DIR)/flight/failsafe.c $(USER_DIR)/flight/failsafe.c
flight_imu_unittest_SRC := \ flight_imu_unittest_SRC := \
$(USER_DIR)/flight/imu.c \ $(USER_DIR)/common/bitarray.c \
$(USER_DIR)/common/maths.c \
$(USER_DIR)/config/feature.c \
$(USER_DIR)/fc/rc_modes.c \
$(USER_DIR)/flight/altitude.c \ $(USER_DIR)/flight/altitude.c \
$(USER_DIR)/common/maths.c $(USER_DIR)/flight/imu.c
flight_mixer_unittest := \ flight_mixer_unittest := \
@ -93,6 +98,8 @@ io_serial_unittest_SRC := \
ledstrip_unittest_SRC := \ ledstrip_unittest_SRC := \
$(USER_DIR)/common/bitarray.c \
$(USER_DIR)/fc/rc_modes.c \
$(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.c
@ -123,8 +130,10 @@ rx_ibus_unittest_SRC := \
rx_ranges_unittest_SRC := \ rx_ranges_unittest_SRC := \
$(USER_DIR)/rx/rx.c \ $(USER_DIR)/common/bitarray.c \
$(USER_DIR)/common/maths.c $(USER_DIR)/common/maths.c \
$(USER_DIR)/fc/rc_modes.c \
$(USER_DIR)/rx/rx.c
rx_rx_unittest_SRC := \ rx_rx_unittest_SRC := \

19
src/test/unit/flight_failsafe_unittest.cc
View file

@ -29,14 +29,19 @@ extern "C" {
#include "common/axis.h" #include "common/axis.h"
#include "common/maths.h" #include "common/maths.h"
#include "common/bitarray.h"
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "fc/rc_modes.h"
#include "io/beeper.h"
#include "fc/rc_controls.h" #include "fc/rc_controls.h"
#include "rx/rx.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "io/beeper.h"
#include "rx/rx.h"
extern boxBitmask_t rcModeActivationMask;
} }
#include "unittest_macros.h" #include "unittest_macros.h"
@ -304,7 +309,10 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
// and // and
throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
failsafeConfigMutable()->failsafe_kill_switch = true; // configure AUX switch as kill switch failsafeConfigMutable()->failsafe_kill_switch = true; // configure AUX switch as kill switch
ACTIVATE_RC_MODE(BOXFAILSAFE); // and activate it boxBitmask_t newMask;
memset(&newMask, 0, sizeof(newMask));
bitArraySet(&newMask, BOXFAILSAFE);
rcModeUpdate(&newMask); // activate BOXFAILSAFE mode
sysTickUptime = 0; // restart time from 0 sysTickUptime = 0; // restart time from 0
failsafeOnValidDataReceived(); // set last valid sample at current time failsafeOnValidDataReceived(); // set last valid sample at current time
sysTickUptime = PERIOD_RXDATA_FAILURE + 1; // adjust time to point just past the failure time to sysTickUptime = PERIOD_RXDATA_FAILURE + 1; // adjust time to point just past the failure time to
@ -324,7 +332,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to
failsafeOnValidDataReceived(); // cause a recovered link failsafeOnValidDataReceived(); // cause a recovered link
rcModeActivationMask = DE_ACTIVATE_ALL_BOXES; // BOXFAILSAFE must be off (kill switch) memset(&rcModeActivationMask, 0, sizeof(rcModeActivationMask)); // BOXFAILSAFE must be off (kill switch)
// when // when
failsafeUpdateState(); failsafeUpdateState();
@ -404,7 +412,6 @@ extern "C" {
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint8_t armingFlags; uint8_t armingFlags;
float rcCommand[4]; float rcCommand[4];
uint32_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT]; int16_t debug[DEBUG16_VALUE_COUNT];
bool isUsingSticksToArm = true; bool isUsingSticksToArm = true;

7
src/test/unit/flight_imu_unittest.cc
View file

@ -28,6 +28,7 @@ extern "C" {
#include "common/axis.h" #include "common/axis.h"
#include "common/maths.h" #include "common/maths.h"
#include "config/feature.h"
#include "config/parameter_group_ids.h" #include "config/parameter_group_ids.h"
#include "drivers/accgyro/accgyro.h" #include "drivers/accgyro/accgyro.h"
@ -57,6 +58,12 @@ extern "C" {
PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0); PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0); PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
.enabledFeatures = 0
);
} }
#include "unittest_macros.h" #include "unittest_macros.h"

3
src/test/unit/rx_ranges_unittest.cc
View file

@ -26,6 +26,7 @@ extern "C" {
#include "common/maths.h" #include "common/maths.h"
#include "config/parameter_group_ids.h" #include "config/parameter_group_ids.h"
#include "fc/rc_controls.h" #include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "rx/rx.h" #include "rx/rx.h"
} }
@ -38,8 +39,6 @@ extern "C" {
uint32_t rcModeActivationMask; uint32_t rcModeActivationMask;
extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range); extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
} }
#define RANGE_CONFIGURATION(min, max) new (rxChannelRangeConfig_t) {min, max} #define RANGE_CONFIGURATION(min, max) new (rxChannelRangeConfig_t) {min, max}