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update GPS code

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This commit is contained in:
ctzsnooze 2022-04-25 13:08:26 +10:00
parent 229ac66755
commit f7c645bfcd
23 changed files with 671 additions and 490 deletions
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63
src/test/unit/flight_failsafe_unittest.cc
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@ -513,46 +513,17 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage1OrStage2Drop)
// deactivate the failsafe switch
deactivateBoxFailsafe();
// receivingRxData is immediately true
// we go directly to failsafe monitoring mode, via Landing
// because the switch also forces rxFlightChannelsValid false, emulating real failsafe
// we have two delays to deal with before we can re-arm
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// handle the first delay in rxDataRecoveryPeriod
sysTickUptime += PERIOD_RXDATA_RECOVERY;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// we should still be in failsafe monitoring mode
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// handle the second delay
sysTickUptime += PERIOD_RXDATA_RECOVERY;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// we should still be in failsafe monitoring mode
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// one tick later
// by next evaluation we should be out of failsafe
sysTickUptime ++;
// receivingRxData is immediately true because signal exists
failsafeOnValidDataReceived();
// when
// when
failsafeUpdateState();
// we should now have exited failsafe
@ -647,34 +618,10 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// handle the first delay in rxDataRecoveryPeriod
sysTickUptime += PERIOD_RXDATA_RECOVERY;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// we should still be in failsafe monitoring mode
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// handle the second delay
sysTickUptime += PERIOD_RXDATA_RECOVERY;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// we should still be in failsafe monitoring mode
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// one tick later
sysTickUptime ++;
failsafeOnValidDataReceived();
// when
failsafeUpdateState();