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Expanded non regression tests for #1569

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This commit is contained in:
Damjan Adamic
2014-07-31 20:23:11 +02:00
parent c3626225aa
commit 50acd1fd92
1 changed files with 167 additions and 16 deletions
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radio/src/tests/mixer.cpp
+167 -16
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@@ -83,24 +83,58 @@ TEST(Trims, throttleTrim)
g_model.thrTrim = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, +125);
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, -125);
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, +125);
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, -125);
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)
@@ -111,22 +145,55 @@ TEST(Trims, invertedThrottlePlusThrottleTrim)
g_model.thrTrim = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, +125);
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, -125);
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, +125);
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, -125);
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);
}
@@ -147,24 +214,66 @@ TEST(Trims, throttleTrimWithZeroWeightOnThrottle)
expo->weight = 0;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, +125);
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, -125);
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, +125);
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, -125);
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)
@@ -184,24 +293,66 @@ TEST(Trims, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
expo->weight = 0;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, THR_STICK, +125);
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, -125);
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, +125);
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, -125);
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(PCBTARANIS)