Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-21 15:25:36 +03:00
Code Issues Wiki Activity

Delay allowing sticky modes

Browse source 
On bootup aux channels start out at default and allow sticky modes right away,
although they should only be allowed once they are actually not active.

_Legal disclaimer: I am making my contributions/submissions to this project solely in my personal capacity and am not conveying any rights to any intellectual property of any third parties._
This commit is contained in:
Robert Lacroix 2018-07-15 09:22:34 +02:00
parent 37d66a6005
commit cb792f30d2
5 changed files with 36 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

28
src/test/unit/arming_prevention_unittest.cc
View file

@ -616,7 +616,7 @@ TEST(ArmingPreventionTest, ParalyzeOnAtBoot)
{
// given
simulationFeatureFlags = 0;
simulationTime = 30e6; // 30 seconds after boot
simulationTime = 0;
gyroCalibDone = true;
// and
@ -660,7 +660,7 @@ TEST(ArmingPreventionTest, Paralyze)
{
// given
simulationFeatureFlags = 0;
simulationTime = 30e6; // 30 seconds after boot
simulationTime = 0;
gyroCalibDone = true;
// and
@ -686,7 +686,7 @@ TEST(ArmingPreventionTest, Paralyze)
// given
rcData[THROTTLE] = 1000;
rcData[AUX1] = 1000;
rcData[AUX2] = 1000;
rcData[AUX2] = 1800; // Start out with paralyze enabled
rcData[AUX3] = 1000;
ENABLE_STATE(SMALL_ANGLE);
@ -726,9 +726,28 @@ TEST(ArmingPreventionTest, Paralyze)
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
// given
// paralyze (and activate linked vtx pit mode)
simulationTime = 10e6; // 10 seconds after boot
// when
updateActivatedModes();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
// given
// disable paralyze once after the startup timer
rcData[AUX2] = 1000;
// when
updateActivatedModes();
// enable paralyze again
rcData[AUX2] = 1800;
// when
@ -738,6 +757,7 @@ TEST(ArmingPreventionTest, Paralyze)
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_PARALYZE, getArmingDisableFlags());
EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXPARALYZE));
EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXVTXPITMODE));
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXBEEPERON));