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Added selectable RaceFlight rates.

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This commit is contained in:
mikeller 2018-01-18 01:48:05 +13:00
parent bca7b905b5
commit ee65eba88d
21 changed files with 260 additions and 135 deletions
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50
src/test/unit/rc_controls_unittest.cc
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@ -241,13 +241,15 @@ extern "C" {
class RcControlsAdjustmentsTest : public ::testing::Test {
protected:
controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0,
.rcRates[FD_ROLL] = 90,
.rcRates[FD_PITCH] = 90,
.rcExpo[FD_ROLL] = 0,
.rcExpo[FD_PITCH] = 0,
.thrMid8 = 0,
.thrExpo8 = 0,
.rates = {0, 0, 0},
.dynThrPID = 0,
.rcYawExpo8 = 0,
.rcExpo[FD_YAW] = 0,
.tpa_breakpoint = 0
};
@ -260,11 +262,13 @@ protected:
rxConfigMutable()->maxcheck = DEFAULT_MAX_CHECK;
rxConfigMutable()->midrc = 1500;
controlRateConfig.rcRate8 = 90;
controlRateConfig.rcExpo8 = 0;
controlRateConfig.rcRates[FD_ROLL] = 90;
controlRateConfig.rcRates[FD_PITCH] = 90;
controlRateConfig.rcExpo[FD_ROLL] = 0;
controlRateConfig.rcExpo[FD_PITCH] = 0;
controlRateConfig.thrMid8 = 0;
controlRateConfig.thrExpo8 = 0;
controlRateConfig.rcYawExpo8 = 0;
controlRateConfig.rcExpo[FD_YAW] = 0;
controlRateConfig.rates[0] = 0;
controlRateConfig.rates[1] = 0;
controlRateConfig.rates[2] = 0;
@ -292,7 +296,8 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
processRcAdjustments(&controlRateConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 90);
EXPECT_EQ(controlRateConfig.rcRates[FD_ROLL], 90);
EXPECT_EQ(controlRateConfig.rcRates[FD_PITCH], 90);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 0);
EXPECT_EQ(adjustmentStateMask, 0);
}
@ -301,13 +306,15 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
{
// given
controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0,
.rcRates[FD_ROLL] = 90,
.rcRates[FD_PITCH] = 90,
.rcExpo[FD_ROLL] = 0,
.rcExpo[FD_PITCH] = 0,
.thrMid8 = 0,
.thrExpo8 = 0,
.rates = {0,0,0},
.dynThrPID = 0,
.rcYawExpo8 = 0,
.rcExpo[FD_YAW] = 0,
.tpa_breakpoint = 0
};
@ -345,7 +352,8 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(controlRateConfig.rcRates[FD_ROLL], 91);
EXPECT_EQ(controlRateConfig.rcRates[FD_PITCH], 91);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -359,7 +367,8 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// when
processRcAdjustments(&controlRateConfig);
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(controlRateConfig.rcRates[FD_ROLL], 91);
EXPECT_EQ(controlRateConfig.rcRates[FD_PITCH], 91);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -381,7 +390,8 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// when
processRcAdjustments(&controlRateConfig);
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(controlRateConfig.rcRates[FD_ROLL], 91);
EXPECT_EQ(controlRateConfig.rcRates[FD_PITCH], 91);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -402,7 +412,8 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(controlRateConfig.rcRates[FD_ROLL], 92);
EXPECT_EQ(controlRateConfig.rcRates[FD_PITCH], 92);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 2);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -418,7 +429,8 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(controlRateConfig.rcRates[FD_ROLL], 92);
EXPECT_EQ(controlRateConfig.rcRates[FD_PITCH], 92);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
//
@ -432,7 +444,8 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(controlRateConfig.rcRates[FD_ROLL], 92);
EXPECT_EQ(controlRateConfig.rcRates[FD_PITCH], 92);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
//
@ -448,7 +461,8 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 93);
EXPECT_EQ(controlRateConfig.rcRates[FD_ROLL], 93);
EXPECT_EQ(controlRateConfig.rcRates[FD_PITCH], 93);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
}
@ -673,7 +687,7 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
extern "C" {
void saveConfigAndNotify(void) {}
void generateThrottleCurve(void) {}
void initRcProcessing(void) {}
void changePidProfile(uint8_t) {}
void pidInitConfig(const pidProfile_t *) {}
void accSetCalibrationCycles(uint16_t) {}