mirror of
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synced 2025-07-21 15:25:36 +03:00
Normalize all the line endings
This commit is contained in:
parent
4237370b60
commit
d60183d91d
396 changed files with 158300 additions and 158300 deletions
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@ -1,75 +1,75 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
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* (at your option) any later version.
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||||
*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <limits.h>
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#include "sensors/battery.h"
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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typedef struct batteryAdcToVoltageExpectation_s {
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uint16_t adcReading;
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uint16_t expectedVoltageInDeciVoltSteps;
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} batteryAdcToVoltageExpectation_t;
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#define ELEVEN_TO_ONE_VOLTAGE_DIVIDER 110 // (10k:1k) * 10 for 0.1V
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TEST(BatteryTest, BatteryADCToVoltage)
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{
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// given
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batteryConfig_t batteryConfig;
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batteryConfig.vbatscale = ELEVEN_TO_ONE_VOLTAGE_DIVIDER;
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batteryInit(&batteryConfig);
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batteryAdcToVoltageExpectation_t batteryAdcToVoltageExpectations[] = {
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{1420, 125},
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{1430, 126},
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{1440, 127},
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{1890, 167},
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{1900, 168},
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{1910, 169}
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};
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uint8_t testIterationCount = sizeof(batteryAdcToVoltageExpectations) / sizeof(batteryAdcToVoltageExpectation_t);
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// expect
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for (uint8_t index = 0; index < testIterationCount; index ++) {
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batteryAdcToVoltageExpectation_t *batteryAdcToVoltageExpectation = &batteryAdcToVoltageExpectations[index];
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printf("adcReading: %d\n", batteryAdcToVoltageExpectation->adcReading);
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uint16_t pointOneVoltSteps = batteryAdcToVoltage(batteryAdcToVoltageExpectation->adcReading);
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EXPECT_EQ(pointOneVoltSteps, batteryAdcToVoltageExpectation->expectedVoltageInDeciVoltSteps);
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}
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}
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// STUBS
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uint16_t adcGetChannel(uint8_t channel)
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{
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UNUSED(channel);
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return 0;
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}
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void delay(uint32_t ms)
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{
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UNUSED(ms);
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return;
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}
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <limits.h>
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#include "sensors/battery.h"
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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typedef struct batteryAdcToVoltageExpectation_s {
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uint16_t adcReading;
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uint16_t expectedVoltageInDeciVoltSteps;
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} batteryAdcToVoltageExpectation_t;
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#define ELEVEN_TO_ONE_VOLTAGE_DIVIDER 110 // (10k:1k) * 10 for 0.1V
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TEST(BatteryTest, BatteryADCToVoltage)
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{
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// given
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batteryConfig_t batteryConfig;
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batteryConfig.vbatscale = ELEVEN_TO_ONE_VOLTAGE_DIVIDER;
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batteryInit(&batteryConfig);
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batteryAdcToVoltageExpectation_t batteryAdcToVoltageExpectations[] = {
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{1420, 125},
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{1430, 126},
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{1440, 127},
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{1890, 167},
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{1900, 168},
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{1910, 169}
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};
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uint8_t testIterationCount = sizeof(batteryAdcToVoltageExpectations) / sizeof(batteryAdcToVoltageExpectation_t);
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// expect
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for (uint8_t index = 0; index < testIterationCount; index ++) {
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batteryAdcToVoltageExpectation_t *batteryAdcToVoltageExpectation = &batteryAdcToVoltageExpectations[index];
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printf("adcReading: %d\n", batteryAdcToVoltageExpectation->adcReading);
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uint16_t pointOneVoltSteps = batteryAdcToVoltage(batteryAdcToVoltageExpectation->adcReading);
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EXPECT_EQ(pointOneVoltSteps, batteryAdcToVoltageExpectation->expectedVoltageInDeciVoltSteps);
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}
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}
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// STUBS
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uint16_t adcGetChannel(uint8_t channel)
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{
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UNUSED(channel);
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return 0;
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}
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void delay(uint32_t ms)
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{
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UNUSED(ms);
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return;
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}
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@ -1,120 +1,120 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <limits.h>
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#define BARO
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#include "common/axis.h"
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#include "flight/flight.h"
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#include "sensors/sensors.h"
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#include "drivers/accgyro.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "config/runtime_config.h"
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#include "flight/mixer.h"
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#include "flight/imu.h"
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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#define DOWNWARDS_THRUST true
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#define UPWARDS_THRUST false
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bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
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typedef struct inclinationExpectation_s {
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rollAndPitchInclination_t inclination;
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bool expectDownwardsThrust;
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} inclinationExpectation_t;
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TEST(FlightImuTest, IsThrustFacingDownwards)
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{
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// given
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inclinationExpectation_t inclinationExpectations[] = {
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{ { 0, 0 }, DOWNWARDS_THRUST },
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{ { 799, 799 }, DOWNWARDS_THRUST },
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{ { 800, 799 }, UPWARDS_THRUST },
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{ { 799, 800 }, UPWARDS_THRUST },
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{ { 800, 800 }, UPWARDS_THRUST },
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{ { 801, 801 }, UPWARDS_THRUST },
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{ { -799, -799 }, DOWNWARDS_THRUST },
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{ { -800, -799 }, UPWARDS_THRUST },
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{ { -799, -800 }, UPWARDS_THRUST },
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{ { -800, -800 }, UPWARDS_THRUST },
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{ { -801, -801 }, UPWARDS_THRUST }
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};
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uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
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// expect
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for (uint8_t index = 0; index < testIterationCount; index ++) {
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inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
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printf("iteration: %d\n", index);
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bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
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EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
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}
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}
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// STUBS
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uint16_t acc_1G;
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int16_t heading;
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gyro_t gyro;
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int16_t magADC[XYZ_AXIS_COUNT];
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int32_t BaroAlt;
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int16_t debug[4];
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uint8_t stateFlags;
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uint16_t flightModeFlags;
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uint8_t armingFlags;
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int32_t sonarAlt;
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void gyroGetADC(void) {};
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bool sensors(uint32_t mask)
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{
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UNUSED(mask);
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return false;
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};
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void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
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{
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UNUSED(rollAndPitchTrims);
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}
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uint32_t micros(void) { return 0; }
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bool isBaroCalibrationComplete(void) { return true; }
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void performBaroCalibrationCycle(void) {}
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int32_t baroCalculateAltitude(void) { return 0; }
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int constrain(int amt, int low, int high)
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{
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UNUSED(amt);
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UNUSED(low);
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UNUSED(high);
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return 0;
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}
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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||||
*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <limits.h>
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#define BARO
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#include "common/axis.h"
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#include "flight/flight.h"
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#include "sensors/sensors.h"
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#include "drivers/accgyro.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "config/runtime_config.h"
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#include "flight/mixer.h"
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#include "flight/imu.h"
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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#define DOWNWARDS_THRUST true
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#define UPWARDS_THRUST false
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bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
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typedef struct inclinationExpectation_s {
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rollAndPitchInclination_t inclination;
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bool expectDownwardsThrust;
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} inclinationExpectation_t;
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TEST(FlightImuTest, IsThrustFacingDownwards)
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{
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// given
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inclinationExpectation_t inclinationExpectations[] = {
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{ { 0, 0 }, DOWNWARDS_THRUST },
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{ { 799, 799 }, DOWNWARDS_THRUST },
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{ { 800, 799 }, UPWARDS_THRUST },
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{ { 799, 800 }, UPWARDS_THRUST },
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{ { 800, 800 }, UPWARDS_THRUST },
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{ { 801, 801 }, UPWARDS_THRUST },
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{ { -799, -799 }, DOWNWARDS_THRUST },
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{ { -800, -799 }, UPWARDS_THRUST },
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{ { -799, -800 }, UPWARDS_THRUST },
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{ { -800, -800 }, UPWARDS_THRUST },
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{ { -801, -801 }, UPWARDS_THRUST }
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};
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uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
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// expect
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for (uint8_t index = 0; index < testIterationCount; index ++) {
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inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
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printf("iteration: %d\n", index);
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bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
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EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
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}
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}
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// STUBS
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uint16_t acc_1G;
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int16_t heading;
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gyro_t gyro;
|
||||
int16_t magADC[XYZ_AXIS_COUNT];
|
||||
int32_t BaroAlt;
|
||||
int16_t debug[4];
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|
||||
uint8_t stateFlags;
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uint16_t flightModeFlags;
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uint8_t armingFlags;
|
||||
|
||||
int32_t sonarAlt;
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|
||||
|
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void gyroGetADC(void) {};
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bool sensors(uint32_t mask)
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{
|
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UNUSED(mask);
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return false;
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};
|
||||
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
|
||||
{
|
||||
UNUSED(rollAndPitchTrims);
|
||||
}
|
||||
|
||||
uint32_t micros(void) { return 0; }
|
||||
bool isBaroCalibrationComplete(void) { return true; }
|
||||
void performBaroCalibrationCycle(void) {}
|
||||
int32_t baroCalculateAltitude(void) { return 0; }
|
||||
int constrain(int amt, int low, int high)
|
||||
{
|
||||
UNUSED(amt);
|
||||
UNUSED(low);
|
||||
UNUSED(high);
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -1,69 +1,69 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <limits.h>
|
||||
#include "flight/gps_conversion.h"
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
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||||
|
||||
TEST(GpsConversionTest, GPSCoordToDegrees_BadString)
|
||||
{
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||||
// expect
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||||
uint32_t result = GPS_coord_to_degrees("diediedie");
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||||
EXPECT_EQ(result, 0);
|
||||
}
|
||||
|
||||
typedef struct gpsConversionExpectation_s {
|
||||
char *coord;
|
||||
uint32_t degrees;
|
||||
} gpsConversionExpectation_t;
|
||||
|
||||
TEST(GpsConversionTest, GPSCoordToDegrees_NMEA_Values)
|
||||
{
|
||||
const gpsConversionExpectation_t gpsConversionExpectations[] = {
|
||||
{"0.0", 0},
|
||||
{"000.0", 0},
|
||||
{"00000.0000", 0},
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||||
{"0.0001", 16}, // smallest value
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||||
{"25599.9999", 2566666650UL}, // largest value
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||||
{"25599.99999", 2566666650UL}, // too many fractional digits
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||||
{"25699.9999", 16666650UL}, // overflowed without detection
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||||
{"5128.3727", 514728783UL},
|
||||
{"5321.6802", 533613366UL},
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||||
{"00630.3372", 65056200UL},
|
||||
};
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||||
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||||
// expect
|
||||
|
||||
uint8_t testIterationCount = sizeof(gpsConversionExpectations) / sizeof(gpsConversionExpectation_t);
|
||||
|
||||
// expect
|
||||
|
||||
for (uint8_t index = 0; index < testIterationCount; index ++) {
|
||||
const gpsConversionExpectation_t *expectation = &gpsConversionExpectations[index];
|
||||
printf("iteration: %d\n", index);
|
||||
|
||||
uint32_t result = GPS_coord_to_degrees(expectation->coord);
|
||||
EXPECT_EQ(result, expectation->degrees);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <limits.h>
|
||||
#include "flight/gps_conversion.h"
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
|
||||
|
||||
TEST(GpsConversionTest, GPSCoordToDegrees_BadString)
|
||||
{
|
||||
// expect
|
||||
uint32_t result = GPS_coord_to_degrees("diediedie");
|
||||
EXPECT_EQ(result, 0);
|
||||
}
|
||||
|
||||
typedef struct gpsConversionExpectation_s {
|
||||
char *coord;
|
||||
uint32_t degrees;
|
||||
} gpsConversionExpectation_t;
|
||||
|
||||
TEST(GpsConversionTest, GPSCoordToDegrees_NMEA_Values)
|
||||
{
|
||||
const gpsConversionExpectation_t gpsConversionExpectations[] = {
|
||||
{"0.0", 0},
|
||||
{"000.0", 0},
|
||||
{"00000.0000", 0},
|
||||
{"0.0001", 16}, // smallest value
|
||||
{"25599.9999", 2566666650UL}, // largest value
|
||||
{"25599.99999", 2566666650UL}, // too many fractional digits
|
||||
{"25699.9999", 16666650UL}, // overflowed without detection
|
||||
{"5128.3727", 514728783UL},
|
||||
{"5321.6802", 533613366UL},
|
||||
{"00630.3372", 65056200UL},
|
||||
};
|
||||
|
||||
// expect
|
||||
|
||||
uint8_t testIterationCount = sizeof(gpsConversionExpectations) / sizeof(gpsConversionExpectation_t);
|
||||
|
||||
// expect
|
||||
|
||||
for (uint8_t index = 0; index < testIterationCount; index ++) {
|
||||
const gpsConversionExpectation_t *expectation = &gpsConversionExpectations[index];
|
||||
printf("iteration: %d\n", index);
|
||||
|
||||
uint32_t result = GPS_coord_to_degrees(expectation->coord);
|
||||
EXPECT_EQ(result, expectation->degrees);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -1,26 +1,26 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define BARO
|
||||
#define GPS
|
||||
#define TELEMETRY
|
||||
#define LED_STRIP
|
||||
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define BARO
|
||||
#define GPS
|
||||
#define TELEMETRY
|
||||
#define LED_STRIP
|
||||
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
|
|
|
@ -1,222 +1,222 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "common/axis.h"
|
||||
|
||||
#include "drivers/system.h"
|
||||
|
||||
#include "drivers/serial.h"
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
|
||||
#include "flight/flight.h"
|
||||
#include "io/gps.h"
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/hott.h"
|
||||
|
||||
#include "flight/gps_conversion.h"
|
||||
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude);
|
||||
|
||||
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
|
||||
|
||||
HOTT_GPS_MSG_t hottGPSMessage;
|
||||
|
||||
HOTT_GPS_MSG_t *getGPSMessageForTest(void)
|
||||
{
|
||||
memset(&hottGPSMessage, 0, sizeof(hottGPSMessage));
|
||||
return &hottGPSMessage;
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates1)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
// Mayrhofen, Austria
|
||||
uint32_t longitude = GPS_coord_to_degrees("4710.5186");
|
||||
uint32_t latitude = GPS_coord_to_degrees("1151.4252");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, latitude, longitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 1151);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), 4251);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L, 4710);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 5186);
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates2)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
// Hampstead Heath, London
|
||||
// 51.563886, -0.159960
|
||||
uint32_t longitude = GPS_coord_to_degrees("5156.3886");
|
||||
uint32_t latitude = -GPS_coord_to_degrees("015.9960");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, longitude, latitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 5156);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L, 3886);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 1);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), -15);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), -9960);
|
||||
}
|
||||
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates3)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
int32_t longitude = -GPS_coord_to_degrees("17999.9999");
|
||||
int32_t latitude = GPS_coord_to_degrees("8999.9999");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, longitude, latitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 1);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L), -18039);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), -9999);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), 9039);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 9999);
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
stateFlags = GPS_FIX;
|
||||
uint16_t altitudeInMeters = 1;
|
||||
GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m
|
||||
|
||||
// when
|
||||
hottPrepareGPSResponse(hottGPSMessage);
|
||||
|
||||
// then
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->altitude_H << 8 | hottGPSMessage->altitude_L), 1 + HOTT_GPS_ALTITUDE_OFFSET);
|
||||
}
|
||||
|
||||
|
||||
// STUBS
|
||||
|
||||
int16_t debug[4];
|
||||
|
||||
uint8_t stateFlags;
|
||||
|
||||
|
||||
uint8_t GPS_numSat;
|
||||
int32_t GPS_coord[2];
|
||||
uint16_t GPS_speed; // speed in 0.1m/s
|
||||
uint16_t GPS_distanceToHome; // distance to home point in meters
|
||||
uint16_t GPS_altitude; // altitude in 0.1m
|
||||
uint8_t vbat;
|
||||
int16_t GPS_directionToHome; // direction to home or hol point in degrees
|
||||
|
||||
uint32_t micros(void) { return 0; }
|
||||
|
||||
uint8_t serialTotalBytesWaiting(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t serialRead(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void serialWrite(serialPort_t *instance, uint8_t ch) {
|
||||
UNUSED(instance);
|
||||
UNUSED(ch);
|
||||
}
|
||||
|
||||
void serialSetMode(serialPort_t *instance, portMode_t mode) {
|
||||
UNUSED(instance);
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate) {
|
||||
UNUSED(instance);
|
||||
UNUSED(baudRate);
|
||||
}
|
||||
|
||||
void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
|
||||
UNUSED(port);
|
||||
UNUSED(function);
|
||||
}
|
||||
|
||||
void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
|
||||
UNUSED(port);
|
||||
UNUSED(function);
|
||||
}
|
||||
|
||||
serialPort_t *openSerialPort(serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion) {
|
||||
UNUSED(functionMask);
|
||||
UNUSED(baudRate);
|
||||
UNUSED(callback);
|
||||
UNUSED(mode);
|
||||
UNUSED(inversion);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
serialPort_t *findOpenSerialPort(uint16_t functionMask) {
|
||||
UNUSED(functionMask);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
bool sensors(uint32_t mask) {
|
||||
UNUSED(mask);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "common/axis.h"
|
||||
|
||||
#include "drivers/system.h"
|
||||
|
||||
#include "drivers/serial.h"
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
|
||||
#include "flight/flight.h"
|
||||
#include "io/gps.h"
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/hott.h"
|
||||
|
||||
#include "flight/gps_conversion.h"
|
||||
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude);
|
||||
|
||||
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
|
||||
|
||||
HOTT_GPS_MSG_t hottGPSMessage;
|
||||
|
||||
HOTT_GPS_MSG_t *getGPSMessageForTest(void)
|
||||
{
|
||||
memset(&hottGPSMessage, 0, sizeof(hottGPSMessage));
|
||||
return &hottGPSMessage;
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates1)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
// Mayrhofen, Austria
|
||||
uint32_t longitude = GPS_coord_to_degrees("4710.5186");
|
||||
uint32_t latitude = GPS_coord_to_degrees("1151.4252");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, latitude, longitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 1151);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), 4251);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L, 4710);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 5186);
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates2)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
// Hampstead Heath, London
|
||||
// 51.563886, -0.159960
|
||||
uint32_t longitude = GPS_coord_to_degrees("5156.3886");
|
||||
uint32_t latitude = -GPS_coord_to_degrees("015.9960");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, longitude, latitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 5156);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L, 3886);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 1);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), -15);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), -9960);
|
||||
}
|
||||
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates3)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
int32_t longitude = -GPS_coord_to_degrees("17999.9999");
|
||||
int32_t latitude = GPS_coord_to_degrees("8999.9999");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, longitude, latitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 1);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L), -18039);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), -9999);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), 9039);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 9999);
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
stateFlags = GPS_FIX;
|
||||
uint16_t altitudeInMeters = 1;
|
||||
GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m
|
||||
|
||||
// when
|
||||
hottPrepareGPSResponse(hottGPSMessage);
|
||||
|
||||
// then
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->altitude_H << 8 | hottGPSMessage->altitude_L), 1 + HOTT_GPS_ALTITUDE_OFFSET);
|
||||
}
|
||||
|
||||
|
||||
// STUBS
|
||||
|
||||
int16_t debug[4];
|
||||
|
||||
uint8_t stateFlags;
|
||||
|
||||
|
||||
uint8_t GPS_numSat;
|
||||
int32_t GPS_coord[2];
|
||||
uint16_t GPS_speed; // speed in 0.1m/s
|
||||
uint16_t GPS_distanceToHome; // distance to home point in meters
|
||||
uint16_t GPS_altitude; // altitude in 0.1m
|
||||
uint8_t vbat;
|
||||
int16_t GPS_directionToHome; // direction to home or hol point in degrees
|
||||
|
||||
uint32_t micros(void) { return 0; }
|
||||
|
||||
uint8_t serialTotalBytesWaiting(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t serialRead(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void serialWrite(serialPort_t *instance, uint8_t ch) {
|
||||
UNUSED(instance);
|
||||
UNUSED(ch);
|
||||
}
|
||||
|
||||
void serialSetMode(serialPort_t *instance, portMode_t mode) {
|
||||
UNUSED(instance);
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate) {
|
||||
UNUSED(instance);
|
||||
UNUSED(baudRate);
|
||||
}
|
||||
|
||||
void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
|
||||
UNUSED(port);
|
||||
UNUSED(function);
|
||||
}
|
||||
|
||||
void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
|
||||
UNUSED(port);
|
||||
UNUSED(function);
|
||||
}
|
||||
|
||||
serialPort_t *openSerialPort(serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion) {
|
||||
UNUSED(functionMask);
|
||||
UNUSED(baudRate);
|
||||
UNUSED(callback);
|
||||
UNUSED(mode);
|
||||
UNUSED(inversion);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
serialPort_t *findOpenSerialPort(uint16_t functionMask) {
|
||||
UNUSED(functionMask);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
bool sensors(uint32_t mask) {
|
||||
UNUSED(mask);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -1,21 +1,21 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
#define UNUSED(x) (void)(x)
|
||||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
#define UNUSED(x) (void)(x)
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue