mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 22:35:23 +03:00
Link Quality without Aux
fix indent , move unused remove premature optimisation Use prior code for osd element calc unit test add crsf for scaleCrsfLq unittest typo rx 0-100 elements simplify osdElementLinkQuality refactor share one 16 bit var
This commit is contained in:
laz2wiringpi
laz2wiringpi
parent
7cd030559d
commit
e9a406f447
11 changed files with 642 additions and 24 deletions
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@ -1159,7 +1159,7 @@ const clivalue_t valueTable[] = {
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{ "osd_rssi_alarm", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_OSD_CONFIG, offsetof(osdConfig_t, rssi_alarm) },
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#ifdef USE_RX_LINK_QUALITY_INFO
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{ "osd_link_quality_alarm", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_OSD_CONFIG, offsetof(osdConfig_t, link_quality_alarm) },
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{ "osd_link_quality_alarm", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 300 }, PG_OSD_CONFIG, offsetof(osdConfig_t, link_quality_alarm) },
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#endif
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{ "osd_cap_alarm", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 20000 }, PG_OSD_CONFIG, offsetof(osdConfig_t, cap_alarm) },
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{ "osd_alt_alarm", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 10000 }, PG_OSD_CONFIG, offsetof(osdConfig_t, alt_alarm) },
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@ -156,6 +156,7 @@ CMS_Menu menuOsdActiveElems = {
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};
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static uint8_t osdConfig_rssi_alarm;
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static uint16_t osdConfig_link_quality_alarm;
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static uint16_t osdConfig_cap_alarm;
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static uint16_t osdConfig_alt_alarm;
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static uint8_t batteryConfig_vbatDurationForWarning;
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@ -164,6 +165,7 @@ static uint8_t batteryConfig_vbatDurationForCritical;
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static long menuAlarmsOnEnter(void)
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{
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osdConfig_rssi_alarm = osdConfig()->rssi_alarm;
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osdConfig_link_quality_alarm = osdConfig()->link_quality_alarm;
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osdConfig_cap_alarm = osdConfig()->cap_alarm;
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osdConfig_alt_alarm = osdConfig()->alt_alarm;
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batteryConfig_vbatDurationForWarning = batteryConfig()->vbatDurationForWarning;
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@ -177,6 +179,7 @@ static long menuAlarmsOnExit(const OSD_Entry *self)
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UNUSED(self);
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osdConfigMutable()->rssi_alarm = osdConfig_rssi_alarm;
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osdConfigMutable()->link_quality_alarm = osdConfig_link_quality_alarm;
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osdConfigMutable()->cap_alarm = osdConfig_cap_alarm;
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osdConfigMutable()->alt_alarm = osdConfig_alt_alarm;
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batteryConfigMutable()->vbatDurationForWarning = batteryConfig_vbatDurationForWarning;
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@ -189,6 +192,7 @@ const OSD_Entry menuAlarmsEntries[] =
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{
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{"--- ALARMS ---", OME_Label, NULL, NULL, 0},
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{"RSSI", OME_UINT8, NULL, &(OSD_UINT8_t){&osdConfig_rssi_alarm, 5, 90, 5}, 0},
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{"LINK QUALITY", OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_link_quality_alarm, 5, 300, 5}, 0},
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{"MAIN BAT", OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_cap_alarm, 50, 30000, 50}, 0},
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{"MAX ALT", OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_alt_alarm, 1, 200, 1}, 0},
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{"VBAT WARN DUR", OME_UINT8, NULL, &(OSD_UINT8_t){ &batteryConfig_vbatDurationForWarning, 0, 200, 1 }, 0 },
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@ -341,7 +341,7 @@ static void osdResetStats(void)
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stats.max_g_force = 0;
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stats.max_esc_temp = 0;
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stats.max_esc_rpm = 0;
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stats.min_link_quality = 99; // percent
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stats.min_link_quality = (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) ? 300 : 99; // CRSF : percent
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}
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static void osdUpdateStats(void)
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@ -613,7 +613,7 @@ static uint8_t osdShowStats(uint16_t endBatteryVoltage, int statsRowCount)
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#ifdef USE_RX_LINK_QUALITY_INFO
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if (osdStatGetState(OSD_STAT_MIN_LINK_QUALITY)) {
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itoa(stats.min_link_quality, buff, 10);
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tfp_sprintf(buff, "%d", stats.min_link_quality);
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strcat(buff, "%");
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osdDisplayStatisticLabel(top++, "MIN LINK", buff);
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}
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@ -249,7 +249,7 @@ typedef struct osdConfig_s {
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uint8_t ahInvert; // invert the artificial horizon
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uint8_t osdProfileIndex;
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uint8_t overlay_radio_mode;
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uint8_t link_quality_alarm;
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uint16_t link_quality_alarm;
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} osdConfig_t;
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PG_DECLARE(osdConfig_t, osdConfig);
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@ -265,7 +265,7 @@ typedef struct statistic_s {
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float max_g_force;
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int16_t max_esc_temp;
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int32_t max_esc_rpm;
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uint8_t min_link_quality;
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uint16_t min_link_quality;
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} statistic_t;
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extern timeUs_t resumeRefreshAt;
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@ -835,13 +835,17 @@ static void osdElementHorizonSidebars(osdElementParms_t *element)
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#ifdef USE_RX_LINK_QUALITY_INFO
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static void osdElementLinkQuality(osdElementParms_t *element)
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{
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// change range to 0-9 (two sig. fig. adds little extra value, also reduces screen estate)
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uint8_t osdLinkQuality = rxGetLinkQuality() * 10 / LINK_QUALITY_MAX_VALUE;
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uint16_t osdLinkQuality = 0;
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if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) { // 0-300
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osdLinkQuality = rxGetLinkQuality() / 3.41;
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tfp_sprintf(element->buff, "%3d", osdLinkQuality);
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} else { // 0-9
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osdLinkQuality = rxGetLinkQuality() * 10 / LINK_QUALITY_MAX_VALUE;
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if (osdLinkQuality >= 10) {
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osdLinkQuality = 9;
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}
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tfp_sprintf(element->buff, "%1d", osdLinkQuality);
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}
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}
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#endif // USE_RX_LINK_QUALITY_INFO
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@ -149,6 +149,11 @@ typedef struct crsfPayloadLinkstatistics_s {
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static timeUs_t lastLinkStatisticsFrameUs;
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#ifdef USE_RX_LINK_QUALITY_INFO
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STATIC_UNIT_TESTED uint16_t scaleCrsfLq(uint16_t lqvalue) {
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return (lqvalue % 100) ? ((lqvalue * 3.41) + 1) : (lqvalue * 3.41);
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}
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#endif
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static void handleCrsfLinkStatisticsFrame(const crsfLinkStatistics_t* statsPtr, timeUs_t currentTimeUs)
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{
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const crsfLinkStatistics_t stats = *statsPtr;
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@ -159,6 +164,12 @@ static void handleCrsfLinkStatisticsFrame(const crsfLinkStatistics_t* statsPtr,
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setRssi(rssiPercentScaled, RSSI_SOURCE_RX_PROTOCOL_CRSF);
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}
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#ifdef USE_RX_LINK_QUALITY_INFO
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if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) {
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setLinkQualityDirect(scaleCrsfLq((stats.rf_Mode * 100) + stats.uplink_Link_quality));
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}
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#endif
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switch (debugMode) {
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case DEBUG_CRSF_LINK_STATISTICS_UPLINK:
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DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_UPLINK, 0, stats.uplink_RSSI_1);
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@ -188,6 +199,11 @@ static void crsfCheckRssi(uint32_t currentTimeUs) {
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if (rssiSource == RSSI_SOURCE_RX_PROTOCOL_CRSF) {
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setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL_CRSF);
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}
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#ifdef USE_RX_LINK_QUALITY_INFO
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if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) {
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setLinkQualityDirect(0);
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}
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#endif
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}
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}
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#endif
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@ -377,6 +393,11 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
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if (rssiSource == RSSI_SOURCE_NONE) {
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rssiSource = RSSI_SOURCE_RX_PROTOCOL_CRSF;
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}
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#ifdef USE_RX_LINK_QUALITY_INFO
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if (linkQualitySource == LQ_SOURCE_NONE) {
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linkQualitySource = LQ_SOURCE_RX_PROTOCOL_CRSF;
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}
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#endif
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return serialPort != NULL;
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}
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@ -77,7 +77,7 @@ static timeUs_t lastMspRssiUpdateUs = 0;
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static pt1Filter_t frameErrFilter;
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#ifdef USE_RX_LINK_QUALITY_INFO
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static uint8_t linkQuality = 0;
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static uint16_t linkQuality = 0;
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#endif
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#define MSP_RSSI_TIMEOUT_US 1500000 // 1.5 sec
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@ -86,6 +86,7 @@ static uint8_t linkQuality = 0;
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#define RSSI_OFFSET_SCALING (1024 / 100.0f)
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rssiSource_e rssiSource;
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linkQualitySource_e linkQualitySource;
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static bool rxDataProcessingRequired = false;
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static bool auxiliaryProcessingRequired = false;
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@ -358,11 +359,11 @@ void resumeRxPwmPpmSignal(void)
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#ifdef USE_RX_LINK_QUALITY_INFO
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#define LINK_QUALITY_SAMPLE_COUNT 16
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static uint8_t updateLinkQualitySamples(uint8_t value)
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STATIC_UNIT_TESTED uint16_t updateLinkQualitySamples(uint16_t value)
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{
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static uint8_t samples[LINK_QUALITY_SAMPLE_COUNT];
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static uint16_t samples[LINK_QUALITY_SAMPLE_COUNT];
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static uint8_t sampleIndex = 0;
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static unsigned sum = 0;
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static uint16_t sum = 0;
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sum += value - samples[sampleIndex];
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samples[sampleIndex] = value;
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@ -374,8 +375,10 @@ static uint8_t updateLinkQualitySamples(uint8_t value)
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static void setLinkQuality(bool validFrame, timeDelta_t currentDeltaTime)
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{
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#ifdef USE_RX_LINK_QUALITY_INFO
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if (linkQualitySource != LQ_SOURCE_RX_PROTOCOL_CRSF) {
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// calculate new sample mean
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linkQuality = updateLinkQualitySamples(validFrame ? LINK_QUALITY_MAX_VALUE : 0);
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}
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#endif
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if (rssiSource == RSSI_SOURCE_FRAME_ERRORS) {
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@ -396,6 +399,15 @@ static void setLinkQuality(bool validFrame, timeDelta_t currentDeltaTime)
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}
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}
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void setLinkQualityDirect(uint16_t linkqualityValue)
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{
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#ifdef USE_RX_LINK_QUALITY_INFO
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linkQuality = linkqualityValue;
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#else
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UNUSED(linkqualityValue);
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#endif
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}
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bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
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{
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bool signalReceived = false;
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@ -746,14 +758,14 @@ uint8_t getRssiPercent(void)
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}
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#ifdef USE_RX_LINK_QUALITY_INFO
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uint8_t rxGetLinkQuality(void)
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uint16_t rxGetLinkQuality(void)
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{
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return linkQuality;
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}
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uint8_t rxGetLinkQualityPercent(void)
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uint16_t rxGetLinkQualityPercent(void)
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{
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return scaleRange(rxGetLinkQuality(), 0, LINK_QUALITY_MAX_VALUE, 0, 100);
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return (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) ? (linkQuality / 3.41) : scaleRange(linkQuality, 0, LINK_QUALITY_MAX_VALUE, 0, 100);
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}
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#endif
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@ -148,6 +148,13 @@ typedef enum {
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extern rssiSource_e rssiSource;
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typedef enum {
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LQ_SOURCE_NONE = 0,
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LQ_SOURCE_RX_PROTOCOL_CRSF,
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} linkQualitySource_e;
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extern linkQualitySource_e linkQualitySource;
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extern rxRuntimeConfig_t rxRuntimeConfig; //!!TODO remove this extern, only needed once for channelCount
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void rxInit(void);
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@ -170,10 +177,11 @@ uint16_t getRssi(void);
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uint8_t getRssiPercent(void);
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bool isRssiConfigured(void);
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#define LINK_QUALITY_MAX_VALUE 255
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#define LINK_QUALITY_MAX_VALUE 1023
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uint8_t rxGetLinkQuality(void);
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uint8_t rxGetLinkQualityPercent(void);
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uint16_t rxGetLinkQuality(void);
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void setLinkQualityDirect(uint16_t linkqualityValue);
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uint16_t rxGetLinkQualityPercent(void);
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void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *rxChannelRangeConfig);
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@ -187,6 +187,29 @@ osd_unittest_DEFINES := \
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USE_RTC_TIME= \
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USE_ADC_INTERNAL=
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link_quality_unittest_SRC := \
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$(USER_DIR)/osd/osd.c \
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$(USER_DIR)/osd/osd_elements.c \
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$(USER_DIR)/common/typeconversion.c \
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$(USER_DIR)/drivers/display.c \
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$(USER_DIR)/drivers/serial.c \
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$(USER_DIR)/common/crc.c \
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$(USER_DIR)/common/maths.c \
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$(USER_DIR)/common/printf.c \
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$(USER_DIR)/common/streambuf.c \
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$(USER_DIR)/common/time.c \
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$(USER_DIR)/fc/runtime_config.c \
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$(USER_DIR)/common/bitarray.c \
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$(USER_DIR)/fc/rc_modes.c \
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$(USER_DIR)/rx/rx.c \
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$(USER_DIR)/pg/pg.c \
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$(USER_DIR)/rx/crsf.c \
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$(USER_DIR)/pg/rx.c
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link_quality_unittest_DEFINES := \
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USE_OSD= \
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USE_CRSF_LINK_STATISTICS= \
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USE_RX_LINK_QUALITY_INFO=
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pg_unittest_SRC := \
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$(USER_DIR)/pg/pg.c
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545
src/test/unit/link_quality_unittest.cc
Normal file
545
src/test/unit/link_quality_unittest.cc
Normal file
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@ -0,0 +1,545 @@
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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 <stdio.h>
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#include <string.h>
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extern "C" {
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#include "platform.h"
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#include "build/debug.h"
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#include "blackbox/blackbox.h"
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#include "blackbox/blackbox_io.h"
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#include "common/time.h"
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#include "common/crc.h"
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#include "common/utils.h"
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#include "common/printf.h"
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#include "common/streambuf.h"
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#include "drivers/max7456_symbols.h"
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#include "drivers/persistent.h"
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#include "drivers/serial.h"
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#include "drivers/system.h"
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#include "fc/config.h"
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#include "fc/core.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "fc/runtime_config.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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#include "io/beeper.h"
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#include "io/gps.h"
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#include "io/serial.h"
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#include "osd/osd.h"
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#include "osd/osd_elements.h"
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#include "pg/pg.h"
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#include "pg/pg_ids.h"
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#include "pg/rx.h"
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#include "rx/rx.h"
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#include "sensors/battery.h"
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attitudeEulerAngles_t attitude;
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pidProfile_t *currentPidProfile;
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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uint8_t GPS_numSat;
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uint16_t GPS_distanceToHome;
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int16_t GPS_directionToHome;
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uint32_t GPS_distanceFlownInCm;
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int32_t GPS_coord[2];
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gpsSolutionData_t gpsSol;
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float motor[8];
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float motorOutputHigh = 2047;
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float motorOutputLow = 1000;
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acc_t acc;
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float accAverage[XYZ_AXIS_COUNT];
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PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
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PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
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PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
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PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
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PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
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timeUs_t simulationTime = 0;
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void osdRefresh(timeUs_t currentTimeUs);
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uint16_t updateLinkQualitySamples(uint16_t value);
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uint16_t scaleCrsfLq(uint16_t lqvalue);
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#define LINK_QUALITY_SAMPLE_COUNT 16
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}
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/* #define DEBUG_OSD */
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#include "unittest_macros.h"
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#include "unittest_displayport.h"
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#include "gtest/gtest.h"
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extern "C" {
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PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
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|
||||
boxBitmask_t rcModeActivationMask;
|
||||
int16_t debug[DEBUG16_VALUE_COUNT];
|
||||
uint8_t debugMode = 0;
|
||||
|
||||
uint16_t updateLinkQualitySamples(uint16_t value);
|
||||
|
||||
extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
|
||||
}
|
||||
void setDefaultSimulationState()
|
||||
{
|
||||
|
||||
setLinkQualityDirect(LINK_QUALITY_MAX_VALUE);
|
||||
|
||||
}
|
||||
/*
|
||||
* Performs a test of the OSD actions on arming.
|
||||
* (reused throughout the test suite)
|
||||
*/
|
||||
void doTestArm(bool testEmpty = true)
|
||||
{
|
||||
// given
|
||||
// craft has been armed
|
||||
ENABLE_ARMING_FLAG(ARMED);
|
||||
|
||||
// when
|
||||
// sufficient OSD updates have been called
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
// then
|
||||
// arming alert displayed
|
||||
displayPortTestBufferSubstring(12, 7, "ARMED");
|
||||
|
||||
// given
|
||||
// armed alert times out (0.5 seconds)
|
||||
simulationTime += 0.5e6;
|
||||
|
||||
// when
|
||||
// sufficient OSD updates have been called
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
// then
|
||||
// arming alert disappears
|
||||
#ifdef DEBUG_OSD
|
||||
displayPortTestPrint();
|
||||
#endif
|
||||
if (testEmpty) {
|
||||
displayPortTestBufferIsEmpty();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Auxiliary function. Test is there're stats that must be shown
|
||||
*/
|
||||
bool isSomeStatEnabled(void) {
|
||||
return (osdConfigMutable()->enabled_stats != 0);
|
||||
}
|
||||
|
||||
/*
|
||||
* Performs a test of the OSD actions on disarming.
|
||||
* (reused throughout the test suite)
|
||||
*/
|
||||
void doTestDisarm()
|
||||
{
|
||||
// given
|
||||
// craft is disarmed after having been armed
|
||||
DISABLE_ARMING_FLAG(ARMED);
|
||||
|
||||
// when
|
||||
// sufficient OSD updates have been called
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
// then
|
||||
// post flight statistics displayed
|
||||
if (isSomeStatEnabled()) {
|
||||
displayPortTestBufferSubstring(2, 2, " --- STATS ---");
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Tests initialisation of the OSD and the power on splash screen.
|
||||
*/
|
||||
TEST(LQTest, TestInit)
|
||||
{
|
||||
// given
|
||||
// display port is initialised
|
||||
displayPortTestInit();
|
||||
|
||||
// and
|
||||
// default state values are set
|
||||
setDefaultSimulationState();
|
||||
|
||||
// and
|
||||
// this battery configuration (used for battery voltage elements)
|
||||
batteryConfigMutable()->vbatmincellvoltage = 330;
|
||||
batteryConfigMutable()->vbatmaxcellvoltage = 430;
|
||||
|
||||
// when
|
||||
// OSD is initialised
|
||||
osdInit(&testDisplayPort);
|
||||
|
||||
// then
|
||||
// display buffer should contain splash screen
|
||||
displayPortTestBufferSubstring(7, 8, "MENU:THR MID");
|
||||
displayPortTestBufferSubstring(11, 9, "+ YAW LEFT");
|
||||
displayPortTestBufferSubstring(11, 10, "+ PITCH UP");
|
||||
|
||||
// when
|
||||
// splash screen timeout has elapsed
|
||||
simulationTime += 4e6;
|
||||
osdUpdate(simulationTime);
|
||||
|
||||
// then
|
||||
// display buffer should be empty
|
||||
#ifdef DEBUG_OSD
|
||||
displayPortTestPrint();
|
||||
#endif
|
||||
displayPortTestBufferIsEmpty();
|
||||
}
|
||||
/*
|
||||
* Tests the Tests the OSD_LINK_QUALITY element updateLinkQualitySamples default LQ_SOURCE_NONE
|
||||
*/
|
||||
TEST(LQTest, TestElement_LQ_SOURCE_NONE_SAMPLES)
|
||||
{
|
||||
// given
|
||||
|
||||
|
||||
linkQualitySource = LQ_SOURCE_NONE;
|
||||
|
||||
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
|
||||
osdConfigMutable()->link_quality_alarm = 0;
|
||||
|
||||
osdAnalyzeActiveElements();
|
||||
|
||||
// when samples populated 100%
|
||||
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
|
||||
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
|
||||
}
|
||||
|
||||
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(8, 1, "9");
|
||||
|
||||
// when updateLinkQualitySamples used 50% rounds to 4
|
||||
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
|
||||
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
|
||||
setLinkQualityDirect(updateLinkQualitySamples(0));
|
||||
}
|
||||
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(8, 1, "4");
|
||||
|
||||
}
|
||||
/*
|
||||
* Tests the Tests the OSD_LINK_QUALITY element values default LQ_SOURCE_NONE
|
||||
*/
|
||||
TEST(LQTest, TestElement_LQ_SOURCE_NONE_VALUES)
|
||||
{
|
||||
// given
|
||||
|
||||
|
||||
linkQualitySource = LQ_SOURCE_NONE;
|
||||
|
||||
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
|
||||
osdConfigMutable()->link_quality_alarm = 0;
|
||||
|
||||
osdAnalyzeActiveElements();
|
||||
// when LINK_QUALITY_MAX_VALUE to 1 by 10%
|
||||
uint16_t testscale = 0;
|
||||
for (int testdigit = 10; testdigit > 0; testdigit--) {
|
||||
testscale = testdigit * 102.3;
|
||||
setLinkQualityDirect(testscale);
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
#ifdef DEBUG_OSD
|
||||
printf("%d %d\n",testscale, testdigit);
|
||||
displayPortTestPrint();
|
||||
#endif
|
||||
// then
|
||||
if (testdigit >= 10){
|
||||
displayPortTestBufferSubstring(7, 1," 9");
|
||||
}else{
|
||||
displayPortTestBufferSubstring(7, 1," %1d", testdigit - 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
/*
|
||||
* Tests the OSD_LINK_QUALITY element LQ RX_PROTOCOL_CRSF.
|
||||
*/
|
||||
TEST(LQTest, TestElementLQ_PROTOCOL_CRSF_VALUES)
|
||||
{
|
||||
// given
|
||||
linkQualitySource = LQ_SOURCE_RX_PROTOCOL_CRSF;
|
||||
|
||||
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
|
||||
osdConfigMutable()->link_quality_alarm = 0;
|
||||
|
||||
osdAnalyzeActiveElements();
|
||||
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
// crsf setLinkQualityDirect 0-300;
|
||||
|
||||
for (uint16_t x = 0; x <= 300; x++) {
|
||||
// when x scaled
|
||||
setLinkQualityDirect(scaleCrsfLq(x));
|
||||
// then rxGetLinkQuality Osd should be x
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
displayPortTestBufferSubstring(8, 1,"%3d", x);
|
||||
|
||||
}
|
||||
}
|
||||
/*
|
||||
* Tests the LQ Alarms
|
||||
*
|
||||
*/
|
||||
TEST(LQTest, TestLQAlarm)
|
||||
{
|
||||
// given
|
||||
// default state is set
|
||||
setDefaultSimulationState();
|
||||
|
||||
linkQualitySource = LQ_SOURCE_NONE;
|
||||
|
||||
// and
|
||||
// the following OSD elements are visible
|
||||
|
||||
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
|
||||
|
||||
// and
|
||||
// this set of alarm values
|
||||
|
||||
osdConfigMutable()->link_quality_alarm = 80;
|
||||
stateFlags |= GPS_FIX | GPS_FIX_HOME;
|
||||
|
||||
osdAnalyzeActiveElements();
|
||||
|
||||
// and
|
||||
// using the metric unit system
|
||||
osdConfigMutable()->units = OSD_UNIT_METRIC;
|
||||
|
||||
// when
|
||||
// the craft is armed
|
||||
doTestArm(false);
|
||||
|
||||
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
|
||||
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
|
||||
}
|
||||
|
||||
// then
|
||||
// no elements should flash as all values are out of alarm range
|
||||
for (int i = 0; i < 30; i++) {
|
||||
// Check for visibility every 100ms, elements should always be visible
|
||||
simulationTime += 0.1e6;
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
#ifdef DEBUG_OSD
|
||||
printf("%d\n", i);
|
||||
#endif
|
||||
displayPortTestBufferSubstring(8, 1, "9");
|
||||
|
||||
}
|
||||
|
||||
setLinkQualityDirect(512);
|
||||
simulationTime += 60e6;
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
// then
|
||||
// elements showing values in alarm range should flash
|
||||
for (int i = 0; i < 15; i++) {
|
||||
// Blinking should happen at 5Hz
|
||||
simulationTime += 0.2e6;
|
||||
osdRefresh(simulationTime);
|
||||
|
||||
#ifdef DEBUG_OSD
|
||||
printf("%d\n", i);
|
||||
displayPortTestPrint();
|
||||
#endif
|
||||
if (i % 2 == 0) {
|
||||
displayPortTestBufferSubstring(8, 1, "5");
|
||||
} else {
|
||||
displayPortTestBufferIsEmpty();
|
||||
}
|
||||
}
|
||||
|
||||
doTestDisarm();
|
||||
simulationTime += 60e6;
|
||||
osdRefresh(simulationTime);
|
||||
}
|
||||
|
||||
// STUBS
|
||||
extern "C" {
|
||||
|
||||
uint32_t micros() {
|
||||
return simulationTime;
|
||||
}
|
||||
|
||||
uint32_t millis() {
|
||||
return micros() / 1000;
|
||||
}
|
||||
|
||||
bool featureIsEnabled(uint32_t) { return true; }
|
||||
void beeperConfirmationBeeps(uint8_t) {}
|
||||
bool isBeeperOn() { return false; }
|
||||
uint8_t getCurrentPidProfileIndex() { return 0; }
|
||||
uint8_t getCurrentControlRateProfileIndex() { return 0; }
|
||||
batteryState_e getBatteryState() { return BATTERY_OK; }
|
||||
uint8_t getBatteryCellCount() { return 4; }
|
||||
uint16_t getBatteryVoltage() { return 1680; }
|
||||
uint16_t getBatteryAverageCellVoltage() { return 420; }
|
||||
int32_t getAmperage() { return 0; }
|
||||
int32_t getMAhDrawn() { return 0; }
|
||||
int32_t getEstimatedAltitudeCm() { return 0; }
|
||||
int32_t getEstimatedVario() { return 0; }
|
||||
unsigned int blackboxGetLogNumber() { return 0; }
|
||||
bool isBlackboxDeviceWorking() { return true; }
|
||||
bool isBlackboxDeviceFull() { return false; }
|
||||
serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
|
||||
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
|
||||
bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
|
||||
bool cmsDisplayPortRegister(displayPort_t *) { return false; }
|
||||
uint16_t getCoreTemperatureCelsius(void) { return 0; }
|
||||
bool isFlipOverAfterCrashActive(void) { return false; }
|
||||
float pidItermAccelerator(void) { return 1.0; }
|
||||
uint8_t getMotorCount(void){ return 4; }
|
||||
bool areMotorsRunning(void){ return true; }
|
||||
bool pidOsdAntiGravityActive(void) { return false; }
|
||||
bool failsafeIsActive(void) { return false; }
|
||||
bool gpsRescueIsConfigured(void) { return false; }
|
||||
int8_t calculateThrottlePercent(void) { return 0; }
|
||||
uint32_t persistentObjectRead(persistentObjectId_e) { return 0; }
|
||||
void persistentObjectWrite(persistentObjectId_e, uint32_t) {}
|
||||
void failsafeOnRxSuspend(uint32_t ) {}
|
||||
void failsafeOnRxResume(void) {}
|
||||
void featureDisable(uint32_t) { }
|
||||
bool rxMspFrameComplete(void) { return false; }
|
||||
bool isPPMDataBeingReceived(void) { return false; }
|
||||
bool isPWMDataBeingReceived(void) { return false; }
|
||||
void resetPPMDataReceivedState(void){ }
|
||||
void failsafeOnValidDataReceived(void) { }
|
||||
void failsafeOnValidDataFailed(void) { }
|
||||
|
||||
void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
}
|
||||
|
||||
bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(initialRxConfig);
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool sumhInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool crsfRxInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback);
|
||||
|
||||
bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
UNUSED(rxRuntimeConfig);
|
||||
UNUSED(callback);
|
||||
return true;
|
||||
}
|
||||
|
||||
float pt1FilterGain(float f_cut, float dT)
|
||||
{
|
||||
UNUSED(f_cut);
|
||||
UNUSED(dT);
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
void pt1FilterInit(pt1Filter_t *filter, float k)
|
||||
{
|
||||
UNUSED(filter);
|
||||
UNUSED(k);
|
||||
}
|
||||
|
||||
float pt1FilterApply(pt1Filter_t *filter, float input)
|
||||
{
|
||||
UNUSED(filter);
|
||||
UNUSED(input);
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -81,6 +81,7 @@ extern "C" {
|
|||
float motorOutputHigh = 2047;
|
||||
float motorOutputLow = 1000;
|
||||
|
||||
linkQualitySource_e linkQualitySource;
|
||||
|
||||
acc_t acc;
|
||||
float accAverage[XYZ_AXIS_COUNT];
|
||||
|
|
@ -1099,7 +1100,7 @@ extern "C" {
|
|||
|
||||
uint8_t getRssiPercent(void) { return scaleRange(rssi, 0, RSSI_MAX_VALUE, 0, 100); }
|
||||
|
||||
uint8_t rxGetLinkQuality(void) { return LINK_QUALITY_MAX_VALUE; }
|
||||
uint16_t rxGetLinkQuality(void) { return LINK_QUALITY_MAX_VALUE; }
|
||||
|
||||
uint16_t getCoreTemperatureCelsius(void) { return simulationCoreTemperature; }
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue