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Add prevention for turning radio on at any time with arm switch on

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This commit is contained in:
Dan Nixon 2017-08-13 16:05:48 +01:00
parent 0c0483d020
commit ad540d8ad8
4 changed files with 102 additions and 18 deletions
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69
src/test/unit/arming_prevention_unittest.cc
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@ -67,6 +67,7 @@ extern "C" {
uint32_t simulationTime = 0;
bool gyroCalibDone = false;
bool simulationHaveRx = false;
#include "gtest/gtest.h"
@ -159,7 +160,6 @@ TEST(ArmingPreventionTest, CalibrationPowerOnGraceAngleThrottleArmSwitch)
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
{
// given
@ -281,11 +281,76 @@ TEST(ArmingPreventionTest, Prearm)
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, RadioTurnedOnAtAnyTimeArmed)
{
// given
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()->mincheck = 1050;
// and
rcData[THROTTLE] = 1000;
ENABLE_STATE(SMALL_ANGLE);
// and
// RX has no link to radio
simulationHaveRx = false;
// and
// arm channel has a safe default value
rcData[4] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// RF link is established and arm switch is turned on on radio
simulationHaveRx = true;
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_BAD_RX_RECOVERY | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// arm switch turned off by user
rcData[4] = 1100;
// 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 false; }
bool rxIsReceivingSignal(void) { return simulationHaveRx; }
bool feature(uint32_t) { return false; }
void warningLedFlash(void) {}