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Merge pull request #5851 from robertlacroix/graveyard

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Add Paralyze mode support
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Michael Keller 2018-05-12 12:02:18 +12:00 • committed by GitHub
commit ea8432b941
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9 changed files with 164 additions and 4 deletions
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1
src/test/Makefile
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@ -28,6 +28,7 @@ alignsensor_unittest_SRC := \
arming_prevention_unittest_SRC := \
$(USER_DIR)/fc/fc_core.c \
$(USER_DIR)/fc/fc_dispatch.c \
$(USER_DIR)/fc/rc_controls.c \
$(USER_DIR)/fc/rc_modes.c \
$(USER_DIR)/fc/runtime_config.c \

117
src/test/unit/arming_prevention_unittest.cc
View file

@ -609,6 +609,123 @@ TEST(ArmingPreventionTest, WhenUsingSwitched3DModeThenNormalThrottleArmingCondit
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, Paralyze)
{
// given
simulationFeatureFlags = 0;
simulationTime = 30e6; // 30 seconds after boot
gyroCalibDone = true;
// and
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
modeActivationConditionsMutable(0)->modeId = BOXARM;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(1)->auxChannelIndex = 1;
modeActivationConditionsMutable(1)->modeId = BOXPARALYZE;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(2)->auxChannelIndex = 2;
modeActivationConditionsMutable(2)->modeId = BOXBEEPERON;
modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(3)->auxChannelIndex = 3;
modeActivationConditionsMutable(3)->modeId = BOXVTXPITMODE;
modeActivationConditionsMutable(3)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(3)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->mincheck = 1050;
// given
rcData[THROTTLE] = 1000;
rcData[AUX1] = 1000;
rcData[AUX2] = 1000;
rcData[AUX3] = 1000;
rcData[AUX4] = 1000;
ENABLE_STATE(SMALL_ANGLE);
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// arm
rcData[AUX1] = 1800;
// when
tryArm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// disarm
rcData[AUX1] = 1000;
// when
disarm();
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(ARMING_FLAG(ARMED));
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// paraylze and enter pit mode
rcData[AUX2] = 1800;
rcData[AUX4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_PARALYZE, getArmingDisableFlags());
EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXVTXPITMODE));
EXPECT_FALSE(IS_RC_MODE_ACTIVE(BOXBEEPERON));
// and
preventModeChanges();
// given
// Try exiting pit mode and enable beeper
rcData[AUX4] = 1000;
rcData[AUX3] = 1800;
// when
updateActivatedModes();
// expect
EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXVTXPITMODE));
EXPECT_TRUE(IS_RC_MODE_ACTIVE(BOXBEEPERON));
// given
// exit paralyze mode and ensure arming is still disabled
rcData[AUX2] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_PARALYZE, getArmingDisableFlags());
}
// STUBS
extern "C" {
uint32_t micros(void) { return simulationTime; }