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Code Issues Wiki Activity

Added calibration menu to CMS.

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This commit is contained in:
mikeller 2019-11-16 12:24:49 +13:00 • committed by Michael Keller
parent c6e5882dd9
commit cedcf2d7e2
41 changed files with 387 additions and 143 deletions
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10
src/test/unit/sensor_gyro_unittest.cc
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@ -100,8 +100,8 @@ TEST(SensorGyro, Calibrate)
EXPECT_EQ(9, gyroDevPtr->gyroZero[Y]);
EXPECT_EQ(10, gyroDevPtr->gyroZero[Z]);
gyroStartCalibration(false);
EXPECT_EQ(false, isGyroCalibrationComplete());
while (!isGyroCalibrationComplete()) {
EXPECT_EQ(false, gyroIsCalibrationComplete());
while (!gyroIsCalibrationComplete()) {
gyroDevPtr->readFn(gyroDevPtr);
performGyroCalibration(gyroSensorPtr, gyroMovementCalibrationThreshold);
}
@ -121,16 +121,16 @@ TEST(SensorGyro, Update)
gyroInit();
gyroDevPtr->readFn = fakeGyroRead;
gyroStartCalibration(false);
EXPECT_EQ(false, isGyroCalibrationComplete());
EXPECT_EQ(false, gyroIsCalibrationComplete());
timeUs_t currentTimeUs = 0;
fakeGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate(currentTimeUs);
while (!isGyroCalibrationComplete()) {
while (!gyroIsCalibrationComplete()) {
fakeGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate(currentTimeUs);
}
EXPECT_EQ(true, isGyroCalibrationComplete());
EXPECT_EQ(true, gyroIsCalibrationComplete());
EXPECT_EQ(5, gyroDevPtr->gyroZero[X]);
EXPECT_EQ(6, gyroDevPtr->gyroZero[Y]);
EXPECT_EQ(7, gyroDevPtr->gyroZero[Z]);