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Update unittest_flight_imu.

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This commit is contained in:
Dominic Clifton 2014-11-01 11:10:57 +00:00
parent 21e9b0b537
commit f8b13d7c62
2 changed files with 26 additions and 14 deletions
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7
src/test/Makefile
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@ -105,17 +105,20 @@ battery_unittest : $(OBJECT_DIR)/sensors/battery.o $(OBJECT_DIR)/battery_unittes
$(OBJECT_DIR)/flight/altitudehold.o : $(USER_DIR)/flight/altitudehold.c $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
$(OBJECT_DIR)/flight/imu.o : $(USER_DIR)/flight/imu.c $(USER_DIR)/flight/imu.h $(GTEST_HEADERS) $(OBJECT_DIR)/flight/imu.o : $(USER_DIR)/flight/imu.c $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@) @mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@ $(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
$(OBJECT_DIR)/flight_imu_unittest.o : $(TEST_DIR)/flight_imu_unittest.cc \ $(OBJECT_DIR)/flight_imu_unittest.o : $(TEST_DIR)/flight_imu_unittest.cc \
$(USER_DIR)/flight/imu.h $(GTEST_HEADERS) $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@) @mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@ $(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight_imu_unittest.o $(OBJECT_DIR)/gtest_main.a flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight/altitudehold.o $(OBJECT_DIR)/flight_imu_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@ $(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

9
src/test/unit/flight_imu_unittest.cc
View file

@ -22,8 +22,10 @@
#define BARO #define BARO
extern "C" {
#include "common/axis.h" #include "common/axis.h"
#include "flight/flight.h" #include "flight/flight.h"
#include "flight/altitudehold.h"
#include "sensors/sensors.h" #include "sensors/sensors.h"
#include "drivers/accgyro.h" #include "drivers/accgyro.h"
@ -36,6 +38,7 @@
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/imu.h" #include "flight/imu.h"
}
#include "unittest_macros.h" #include "unittest_macros.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"
@ -44,7 +47,9 @@
#define UPWARDS_THRUST false #define UPWARDS_THRUST false
extern "C" {
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations); bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
}
typedef struct inclinationExpectation_s { typedef struct inclinationExpectation_s {
rollAndPitchInclination_t inclination; rollAndPitchInclination_t inclination;
@ -82,6 +87,8 @@ TEST(FlightImuTest, IsThrustFacingDownwards)
// STUBS // STUBS
extern "C" {
uint16_t acc_1G; uint16_t acc_1G;
int16_t heading; int16_t heading;
gyro_t gyro; gyro_t gyro;
@ -118,3 +125,5 @@ int constrain(int amt, int low, int high)
UNUSED(high); UNUSED(high);
return 0; return 0;
} }
}