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Code Issues Wiki Activity

Fix random RX loss beep when using Serial RX receivers.

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This commit is contained in:
Dominic Clifton 2015-04-23 16:33:41 +02:00
parent 7266d42466
commit bad0b1b04d
3 changed files with 30 additions and 18 deletions
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35
src/test/unit/flight_failsafe_unittest.cc
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@ -176,22 +176,27 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
// given
ENABLE_ARMING_FLAG(ARMED);
// when
failsafeOnRxCycleStarted();
// no call to failsafeOnValidDataReceived();
failsafeUpdateState();
// then
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
//
// currently one cycle must occur (above) so that the next cycle (below) can detect the lack of an update.
// currently 20 cycles must occur before the lack of an update triggers RX loss detection.
//
// FIXME see comments about RX_SERIAL/RX_MSP above, the test should likely deal with time rather than counters.
int failsafeCounterThreshold = 20;
// when
for (int i = 0; i < FAILSAFE_UPDATE_HZ - 1; i++) {
for (int i = 0; i < failsafeCounterThreshold; i++) {
failsafeOnRxCycleStarted();
// no call to failsafeOnValidDataReceived();
failsafeUpdateState();
// then
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(false, failsafeIsActive());
}
// when
for (int i = 0; i < FAILSAFE_UPDATE_HZ - failsafeCounterThreshold; i++) {
failsafeOnRxCycleStarted();
// no call to failsafeOnValidDataReceived();
@ -201,7 +206,6 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
// then
EXPECT_EQ(FAILSAFE_RX_LOSS_DETECTED, failsafePhase());
EXPECT_EQ(false, failsafeIsActive());
}
//
@ -305,6 +309,7 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
extern "C" {
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint8_t armingFlags;
int16_t debug[DEBUG16_VALUE_COUNT];
void delay(uint32_t) {}
@ -316,6 +321,8 @@ void mwDisarm(void) {
callCounts[COUNTER_MW_DISARM]++;
}
void beeper(beeperMode_e mode) { }
void beeper(beeperMode_e mode) {
UNUSED(mode);
}
}