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Code Issues Wiki Activity

Non regression tests for #1569

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This commit is contained in:
bsongis 2014-07-31 17:24:10 +02:00
parent b71a96ed55
commit c3626225aa
1 changed files with 142 additions and 14 deletions
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156
radio/src/tests/mixer.cpp
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@ -76,32 +76,160 @@ uint16_t anaIn(uint8_t chan)
return 0;
}
TEST(Trims, throttleTrim)
{
MODEL_RESET();
modelDefault(0);
g_model.thrTrim = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, +125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, -125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, +125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+500);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, -125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
}
TEST(Trims, invertedThrottlePlusThrottleTrim)
{
MODEL_RESET();
modelDefault(0);
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, +125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, -125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+500);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, +125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, -125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
}
TEST(Trims, throttleTrimWithZeroWeightOnThrottle)
{
MODEL_RESET();
modelDefault(0);
g_model.thrTrim = 1;
#if defined(PCBTARANIS)
// the input already exists
ExpoData *expo = expoAddress(THR_STICK);
#else
ExpoData *expo = expoAddress(0);
expo->mode = 3;
expo->chn = THR_STICK;
#endif
expo->weight = 0;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, +125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 250);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, -125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, +125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 250);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, -125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
}
TEST(Trims, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
{
MODEL_RESET();
modelDefault(0);
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
#if defined(PCBTARANIS)
// the input already exists
ExpoData *expo = expoAddress(THR_STICK);
#else
ExpoData *expo = expoAddress(0);
expo->mode = 3;
expo->chn = THR_STICK;
#endif
expo->weight = 0;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, +125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, -125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 250);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, +125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, -125);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 250);
}
#if !defined(PCBTARANIS)
TEST(Trims, greaterTrimLink)
{
MODEL_RESET();
setTrimValue(1, 0, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(3, 0, 32);
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(1, 0), 0), 32);
setTrimValue(1, RUD_STICK, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(3, RUD_STICK, 32);
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(1, RUD_STICK), RUD_STICK), 32);
}
TEST(Trims, chainedTrims)
{
MODEL_RESET();
setTrimValue(0, 0, 32);
setTrimValue(1, 0, TRIM_EXTENDED_MAX+1); // link to FP0 trim
setTrimValue(2, 0, TRIM_EXTENDED_MAX+2); // link to FP1 trim
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, 2), 0), 32);
setTrimValue(0, RUD_STICK, 32);
setTrimValue(1, RUD_STICK, TRIM_EXTENDED_MAX+1); // link to FP0 trim
setTrimValue(2, RUD_STICK, TRIM_EXTENDED_MAX+2); // link to FP1 trim
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, RUD_STICK), RUD_STICK), 32);
}
TEST(Trims, infiniteChainedTrims)
{
MODEL_RESET();
setTrimValue(0, 0, 32);
setTrimValue(1, 0, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(2, 0, TRIM_EXTENDED_MAX+2); // link to FP1 trim
setTrimValue(3, 0, TRIM_EXTENDED_MAX+3); // link to FP2 trim
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, 2), 0), 32);
setTrimValue(0, RUD_STICK, 32);
setTrimValue(1, RUD_STICK, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(2, RUD_STICK, TRIM_EXTENDED_MAX+2); // link to FP1 trim
setTrimValue(3, RUD_STICK, TRIM_EXTENDED_MAX+3); // link to FP2 trim
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, RUD_STICK), RUD_STICK), 32);
}
#endif
@ -109,10 +237,10 @@ TEST(Trims, CopyTrimsToOffset)
{
MODEL_RESET();
modelDefault(0);
setTrimValue(0, 1, -100); // -100 on elevator
setTrimValue(0, ELE_STICK, -100); // -100 on elevator
evalFunctions(); // it disables all safety channels
copyTrimsToOffset(1);
EXPECT_EQ(getTrimValue(0, 1), -100); // unchanged
EXPECT_EQ(getTrimValue(0, ELE_STICK), -100); // unchanged
#if defined(CPUARM)
EXPECT_EQ(g_model.limitData[1].offset, -195);
#else