Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

Test new arming prevention functionality

Browse source
This commit is contained in:
Dan Nixon 2017-08-05 18:35:48 +01:00
parent 945870089f
commit fd51cda9eb
1 changed files with 153 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

154
src/test/unit/arming_prevention_unittest.cc
View file

@ -66,9 +66,161 @@ extern "C" {
}
uint32_t simulationTime = 0;
bool gyroCalibDone = false;
#include "gtest/gtest.h"
TEST(ArmingPreventionTest, CalibrationAngleThrottleArmSwitch)
{
// given
simulationTime = 0;
gyroCalibDone = false;
// 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);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->mincheck = 1050;
// and
// default channel positions
rcData[THROTTLE] = 1400;
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_CALIBRATING | ARMING_DISABLED_ANGLE | ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// gyro calibration is done
gyroCalibDone = true;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ANGLE | ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// quad is level
ENABLE_STATE(SMALL_ANGLE);
// when
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
rcData[THROTTLE] = 1000;
// when
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
rcData[4] = 1000;
// when
// arm guard time elapses
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
{
// given
simulationTime = 0;
gyroCalibDone = false;
// 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);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->mincheck = 1050;
// and
rcData[THROTTLE] = 1000;
ENABLE_STATE(SMALL_ANGLE);
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_CALIBRATING, getArmingDisableFlags());
// given
// arm channel takes a safe default value from the RX after power on
rcData[4] = 1500;
// and
// a short time passes while calibration is in progress
simulationTime += 1e6;
// and
// during calibration RF link is established and ARM switch is on
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_CALIBRATING | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// calibration is done
gyroCalibDone = true;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// arm switch is switched off by user
rcData[4] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// arming enabled as arm switch has been off for sufficient time
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, Prearm)
{
// given
@ -134,7 +286,7 @@ extern "C" {
void blackboxFinish(void) {}
bool isAccelerationCalibrationComplete(void) { return true; }
bool isBaroCalibrationComplete(void) { return true; }
bool isGyroCalibrationComplete(void) { return true; }
bool isGyroCalibrationComplete(void) { return gyroCalibDone; }
void gyroStartCalibration(bool) {}
bool isFirstArmingGyroCalibrationRunning(void) { return false; }
void pidController(const pidProfile_t *, const rollAndPitchTrims_t *, timeUs_t) {}