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opentx/radio/src/tests/mixer.cpp
Bertrand Songis 5691395dcf [Horus] Google tests added
2016-03-22 19:36:53 +01:00

1011 lines
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/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "gtests.h"
#include "templates.h"
#define CHECK_NO_MOVEMENT(channel, value, duration) \
for (int i=1; i<=(duration); i++) { \
evalFlightModeMixes(e_perout_mode_normal, 1); \
EXPECT_EQ(chans[(channel)], (value)); \
}
#define CHECK_SLOW_MOVEMENT(channel, sign, duration) \
do { \
for (int i=1; i<=(duration); i++) { \
evalFlightModeMixes(e_perout_mode_normal, 1); \
lastAct = lastAct + (sign) * (1<<19)/500; /* 100 on ARM */ \
EXPECT_EQ(chans[(channel)], 256 * (lastAct >> 8)); \
} \
} while (0)
#define CHECK_DELAY(channel, duration) \
do { \
int32_t value = chans[(channel)]; \
for (int i=1; i<=(duration); i++) { \
evalFlightModeMixes(e_perout_mode_normal, 1); \
EXPECT_EQ(chans[(channel)], value); \
} \
} while (0)
TEST(Trims, throttleTrim)
{
SYSTEM_RESET();
MODEL_RESET();
modelDefault(0);
g_model.thrTrim = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+500);
// stick min + trim mid
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+250);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2000);
// stick min + trim mid
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1000);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
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, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim mid
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+250);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+500);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim mid
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1000);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2000);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
}
TEST(Trims, throttleTrimWithZeroWeightOnThrottle)
{
MODEL_RESET();
modelDefault(0);
g_model.thrTrim = 1;
#if defined(VIRTUALINPUTS)
// 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, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 250);
// stick max + trim mid
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 125), 1); //can't use precise comparison here because of lower precision math on 9X
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 250);
// stick min + trim mid
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 125), 1);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// now some tests with extended Trims
g_model.extendedTrims = 1;
// trim min + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
anaInValues[THR_STICK] = -1024;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaInValues[THR_STICK] = -300;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaInValues[THR_STICK] = +300;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaInValues[THR_STICK] = +1024;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// trim max + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
anaInValues[THR_STICK] = -1024;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1000);
anaInValues[THR_STICK] = -300;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1000);
anaInValues[THR_STICK] = +300;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1000);
anaInValues[THR_STICK] = +1024;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1000);
}
TEST(Trims, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
{
MODEL_RESET();
modelDefault(0);
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
#if defined(VIRTUALINPUTS)
// 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, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick max + trim mid
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 125), 1);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 250);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick min + trim mid
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 125), 1);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 250);
// now some tests with extended Trims
g_model.extendedTrims = 1;
// trim min + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
anaInValues[THR_STICK] = -1024;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1000);
anaInValues[THR_STICK] = -300;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1000);
anaInValues[THR_STICK] = +300;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1000);
anaInValues[THR_STICK] = +1024;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1000);
// trim max + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
anaInValues[THR_STICK] = -1024;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaInValues[THR_STICK] = -300;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaInValues[THR_STICK] = +300;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaInValues[THR_STICK] = +1024;
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
}
#if !defined(VIRTUALINPUTS)
TEST(Trims, greaterTrimLink)
{
MODEL_RESET();
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, 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, 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
TEST(Trims, CopyTrimsToOffset)
{
MODEL_RESET();
modelDefault(0);
setTrimValue(0, ELE_STICK, -100); // -100 on elevator
#if defined(CPUARM)
evalFunctions(g_model.customFn, modelFunctionsContext); // it disables all safety channels
copyTrimsToOffset(1);
EXPECT_EQ(getTrimValue(0, ELE_STICK), -100); // unchanged
EXPECT_EQ(g_model.limitData[1].offset, -195);
#else
evalFunctions(); // it disables all safety channels
copyTrimsToOffset(1);
EXPECT_EQ(getTrimValue(0, ELE_STICK), -100); // unchanged
EXPECT_EQ(g_model.limitData[1].offset, -200);
#endif
}
TEST(Trims, CopySticksToOffset)
{
MODEL_RESET();
modelDefault(0);
anaInValues[ELE_STICK] = -100;
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
copySticksToOffset(1);
EXPECT_EQ(g_model.limitData[1].offset, -97);
}
TEST(Trims, InstantTrim)
{
MODEL_RESET();
modelDefault(0);
anaInValues[AIL_STICK] = 50;
instantTrim();
EXPECT_EQ(25, getTrimValue(0, AIL_STICK));
}
#if defined(VIRTUALINPUTS)
TEST(Trims, InstantTrimNegativeCurve)
{
MODEL_RESET();
modelDefault(0);
ExpoData *expo = expoAddress(AIL_STICK);
expo->curve.type = CURVE_REF_CUSTOM;
expo->curve.value = 1;
g_model.points[0] = -100;
g_model.points[1] = -75;
g_model.points[2] = -50;
g_model.points[3] = -25;
g_model.points[4] = 0;
anaInValues[AIL_STICK] = 512;
instantTrim();
EXPECT_EQ(128, getTrimValue(0, AIL_STICK));
}
#endif
TEST(Curves, LinearIntpol)
{
MODEL_RESET();
for (int8_t i=-2; i<=2; i++) {
g_model.points[2+i] = 50*i;
}
EXPECT_EQ(applyCustomCurve(-1024, 0), -1024);
EXPECT_EQ(applyCustomCurve(0, 0), 0);
EXPECT_EQ(applyCustomCurve(1024, 0), 1024);
EXPECT_EQ(applyCustomCurve(-192, 0), -192);
}
#if !defined(CPUARM)
TEST(FlightModes, nullFadeOut_posFadeIn)
{
MODEL_RESET();
g_model.flightModeData[1].swtch = SWSRC_ID1;
g_model.flightModeData[1].fadeIn = 15;
perMain();
simuSetSwitch(3, 0);
perMain();
}
TEST(Mixer, R2029Comment)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].swtch = -SWSRC_THR;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_Thr;
g_model.mixData[1].swtch = SWSRC_THR;
g_model.mixData[1].weight = 100;
anaInValues[THR_STICK] = 1024;
simuSetSwitch(0, 1);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
EXPECT_EQ(chans[1], 0);
simuSetSwitch(0, 1);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
TEST(Mixer, Cascaded3Channels)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_CH3;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].srcRaw = MIXSRC_THR;
g_model.mixData[2].weight = 100;
simuSetSwitch(0, 1);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX);
EXPECT_EQ(chans[2], CHANNEL_MAX);
}
TEST(Mixer, CascadedOrderedChannels)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_THR;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_CH1;
g_model.mixData[1].weight = 100;
simuSetSwitch(0, 1);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
TEST(Mixer, Cascaded5Channels)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_CH3;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].srcRaw = MIXSRC_CH4;
g_model.mixData[2].weight = 100;
g_model.mixData[3].destCh = 3;
g_model.mixData[3].srcRaw = MIXSRC_CH5;
g_model.mixData[3].weight = 100;
g_model.mixData[4].destCh = 4;
g_model.mixData[4].srcRaw = MIXSRC_THR;
g_model.mixData[4].weight = 100;
for (uint8_t i=0; i<10; i++) {
simuSetSwitch(0, 1);
doMixerCalculations();
EXPECT_EQ(chans[0], CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX);
EXPECT_EQ(chans[2], CHANNEL_MAX);
EXPECT_EQ(chans[3], CHANNEL_MAX);
EXPECT_EQ(chans[4], CHANNEL_MAX);
simuSetSwitch(0, 0);
doMixerCalculations();
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], -CHANNEL_MAX);
EXPECT_EQ(chans[2], -CHANNEL_MAX);
EXPECT_EQ(chans[3], -CHANNEL_MAX);
EXPECT_EQ(chans[4], -CHANNEL_MAX);
}
}
#endif
TEST(Mixer, InfiniteRecursiveChannels)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_CH3;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].srcRaw = MIXSRC_CH1;
g_model.mixData[2].weight = 100;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[2], 0);
EXPECT_EQ(chans[1], 0);
EXPECT_EQ(chans[0], 0);
}
TEST(Mixer, BlockingChannel)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH1;
g_model.mixData[0].weight = 100;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
}
TEST(Mixer, RecursiveAddChannel)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_CH2;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_Rud;
g_model.mixData[2].weight = 100;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], 0);
}
TEST(Mixer, RecursiveAddChannelAfterInactivePhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = SWSRC_ID1;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].flightModes = 0b11110;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].flightModes = 0b11101;
g_model.mixData[1].weight = 50;
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_MAX;
g_model.mixData[2].weight = 100;
simuSetSwitch(3, -1);
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(3, 0);
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
#if !defined(CPUARM)
TEST(Mixer, SlowOnSwitch)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = SWSRC_THR;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
s_mixer_first_run_done = true;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, +1, 250);
simuSetSwitch(0, -1);
CHECK_SLOW_MOVEMENT(0, -1, 250);
}
TEST(Mixer, SlowUpOnSwitch)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = SWSRC_THR;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = 0;
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 0);
s_mixer_first_run_done = true;
EXPECT_EQ(chans[0], 0);
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, +1, 250);
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], 0);
lastAct = 0;
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, +1, 100);
}
#endif
TEST(Mixer, SlowOnPhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 /*only enabled in phase 0*/;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
s_mixer_first_run_done = true;
mixerCurrentFlightMode = 0;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
CHECK_SLOW_MOVEMENT(0, +1, 250);
mixerCurrentFlightMode = 1;
CHECK_SLOW_MOVEMENT(0, -1, 250);
}
#if !defined(CPUARM)
TEST(Mixer, SlowOnSwitchAndPhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = TR(SWSRC_THR, SWSRC_SA0);
#if defined(CPUARM)
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 + 0x20 + 0x40 + 0x80 + 0x100 /*only enabled in phase 0*/;
#else
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 /*only enabled in phase 0*/;
#endif
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
s_mixer_first_run_done = true;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(0, 1);
mixerCurrentFlightMode = 0;
CHECK_SLOW_MOVEMENT(0, +1, 250);
simuSetSwitch(0, -1);
mixerCurrentFlightMode = 1;
CHECK_SLOW_MOVEMENT(0, -1, 250);
}
#endif
TEST(Mixer, SlowOnSwitchSource)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = TR(MIXSRC_THR, MIXSRC_SA);
g_model.mixData[0].weight = 100;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
#if defined(PCBTARANIS) || defined(PCBHORUS)
g_eeGeneral.switchConfig = 0x03;
#endif
s_mixer_first_run_done = true;
simuSetSwitch(0, -1);
CHECK_SLOW_MOVEMENT(0, -1, 250);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, +1, 500);
}
TEST(Mixer, SlowDisabledOnStartup)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX);
}
TEST(Mixer, DelayOnSwitch)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = TR(SWSRC_THR, SWSRC_SA2);
g_model.mixData[0].delayUp = DELAY_STEP*5;
g_model.mixData[0].delayDown = DELAY_STEP*5;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(0, 1);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], CHANNEL_MAX);
simuSetSwitch(0, 0);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], 0);
}
#if !defined(CPUARM)
TEST(Mixer, SlowAndDelayOnReplace3POSSource)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_REP;
g_model.mixData[0].srcRaw = MIXSRC_3POS;
g_model.mixData[0].weight = 100;
g_model.mixData[0].delayUp = 10;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
s_mixer_first_run_done = true;
simuSetSwitch(3, -1);
CHECK_SLOW_MOVEMENT(0, -1, 250);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
simuSetSwitch(3, 0);
CHECK_DELAY(0, 500);
CHECK_SLOW_MOVEMENT(0, +1, 250/*half course*/);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(3, 1);
CHECK_DELAY(0, 500);
CHECK_SLOW_MOVEMENT(0, +1, 250);
}
#endif
#if !defined(CPUARM)
TEST(Mixer, SlowOnSwitchReplace)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_REP;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].weight = 100;
g_model.mixData[1].swtch = SWSRC_THR;
g_model.mixData[1].speedDown = SLOW_STEP*5;
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
simuSetSwitch(0, 1);
evalFlightModeMixes(e_perout_mode_normal, 1);
// slow is not applied, but it's better than the first mix not applied at all!
EXPECT_EQ(chans[0], CHANNEL_MAX);
simuSetSwitch(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 1);
// slow is not applied, but it's better than the first mix not applied at all!
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
}
#endif
#if !defined(VIRTUALINPUTS)
TEST(Mixer, NoTrimOnInactiveMix)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_Thr;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = SWSRC_THR;
g_model.mixData[0].speedUp = SLOW_STEP*5;
g_model.mixData[0].speedDown = SLOW_STEP*5;
setTrimValue(0, 2, 256);
s_mixer_first_run_done = true;
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, 1, 100);
simuSetSwitch(0, -1);
CHECK_SLOW_MOVEMENT(0, -1, 100);
}
#endif
TEST(Mixer, SlowOnMultiply)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_MUL;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].weight = 100;
g_model.mixData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
g_model.mixData[1].speedUp = SLOW_STEP*5;
g_model.mixData[1].speedDown = SLOW_STEP*5;
s_mixer_first_run_done = true;
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, 1, 250);
simuSetSwitch(0, -1);
CHECK_NO_MOVEMENT(0, CHANNEL_MAX, 250);
simuSetSwitch(0, 1);
CHECK_NO_MOVEMENT(0, CHANNEL_MAX, 250);
}
#if defined(HELI) && defined(VIRTUALINPUTS)
TEST(Heli, BasicTest)
{
MODEL_RESET();
applyDefaultTemplate();
g_model.swashR.collectiveSource = MIXSRC_Thr;
g_model.swashR.elevatorSource = MIXSRC_Ele;
g_model.swashR.aileronSource = MIXSRC_Ail;
g_model.swashR.collectiveWeight = 100;
g_model.swashR.elevatorWeight = 100;
g_model.swashR.aileronWeight = 100;
g_model.swashR.type = SWASH_TYPE_120;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].mltpx = MLTPX_ADD;
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
g_model.mixData[2].weight = 100;
anaInValues[ELE_STICK] = 1024;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
EXPECT_EQ(chans[2], CHANNEL_MAX/2);
}
TEST(Heli, Mode2Test)
{
MODEL_RESET();
g_eeGeneral.templateSetup = 2;
applyDefaultTemplate();
g_model.swashR.collectiveSource = MIXSRC_Thr;
g_model.swashR.elevatorSource = MIXSRC_Ele;
g_model.swashR.aileronSource = MIXSRC_Ail;
g_model.swashR.collectiveWeight = 100;
g_model.swashR.elevatorWeight = 100;
g_model.swashR.aileronWeight = 100;
g_model.swashR.type = SWASH_TYPE_120;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].mltpx = MLTPX_ADD;
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
g_model.mixData[2].weight = 100;
anaInValues[ELE_STICK] = 1024;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
EXPECT_EQ(chans[2], CHANNEL_MAX/2);
}
#endif
#if defined(HELI) && !defined(VIRTUALINPUTS)
TEST(Heli, SimpleTest)
{
MODEL_RESET();
applyTemplate(TMPL_HELI_SETUP);
anaInValues[ELE_STICK] = 1024;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
}
#endif
TEST(Trainer, UnpluggedTest)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_TRAINER;
g_model.mixData[0].weight = 100;
g_model.mixData[0].delayUp = DELAY_STEP*5;
g_model.mixData[0].delayDown = DELAY_STEP*5;
ppmInputValidityTimer = 0;
ppmInput[0] = 1024;
CHECK_DELAY(0, 5000);
}
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