Gtests split into several source files
This commit is contained in:
Damjan Adamic
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/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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#include <QtCore/QDir>
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#include <QtCore/QDebug>
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#include <QtGui/QApplication>
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#include <QtGui/QPainter>
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#include <math.h>
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#include <gtest/gtest.h>
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#define SWAP_DEFINED
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#include "opentx.h"
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#define CHANNEL_MAX (1024*256)
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void doMixerCalculations();
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#define MODEL_RESET() \
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memset(&g_model, 0, sizeof(g_model)); \
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extern uint8_t s_mixer_first_run_done; \
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s_mixer_first_run_done = false; \
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lastFlightMode = 255;
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int32_t lastAct = 0;
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void MIXER_RESET()
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{
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memset(channelOutputs, 0, sizeof(channelOutputs));
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memset(ex_chans, 0, sizeof(ex_chans));
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memset(act, 0, sizeof(act));
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memset(swOn, 0, sizeof(swOn));
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#if !defined(CPUARM)
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s_last_switch_used = 0;
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s_last_switch_value = 0;
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#endif
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mixerCurrentFlightMode = lastFlightMode = 0;
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lastAct = 0;
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logicalSwitchesReset();
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}
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uint16_t anaInValues[NUM_STICKS+NUM_POTS] = { 0 };
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uint16_t anaIn(uint8_t chan)
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{
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if (chan < NUM_STICKS+NUM_POTS)
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return anaInValues[chan];
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else
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return 0;
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}
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#if !defined(PCBTARANIS)
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TEST(Trims, greaterTrimLink)
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{
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MODEL_RESET();
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setTrimValue(1, 0, TRIM_EXTENDED_MAX+3); // link to FP3 trim
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setTrimValue(3, 0, 32);
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EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(1, 0), 0), 32);
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}
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TEST(Trims, chainedTrims)
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{
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MODEL_RESET();
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setTrimValue(0, 0, 32);
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setTrimValue(1, 0, TRIM_EXTENDED_MAX+1); // link to FP0 trim
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setTrimValue(2, 0, TRIM_EXTENDED_MAX+2); // link to FP1 trim
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EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, 2), 0), 32);
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}
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TEST(Trims, infiniteChainedTrims)
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{
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MODEL_RESET();
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setTrimValue(0, 0, 32);
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setTrimValue(1, 0, TRIM_EXTENDED_MAX+3); // link to FP3 trim
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setTrimValue(2, 0, TRIM_EXTENDED_MAX+2); // link to FP1 trim
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setTrimValue(3, 0, TRIM_EXTENDED_MAX+3); // link to FP2 trim
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EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, 2), 0), 32);
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}
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#endif
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TEST(Trims, CopyTrimsToOffset)
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{
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MODEL_RESET();
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modelDefault(0);
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setTrimValue(0, 1, -100); // -100 on elevator
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evalFunctions(); // it disables all safety channels
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copyTrimsToOffset(1);
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EXPECT_EQ(getTrimValue(0, 1), -100); // unchanged
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#if defined(CPUARM)
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EXPECT_EQ(g_model.limitData[1].offset, -195);
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#else
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EXPECT_EQ(g_model.limitData[1].offset, -200);
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#endif
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}
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TEST(Trims, CopySticksToOffset)
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{
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MODEL_RESET();
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modelDefault(0);
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anaInValues[ELE_STICK] = -100;
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perMain();
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copySticksToOffset(1);
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EXPECT_EQ(g_model.limitData[1].offset, -97);
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}
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TEST(Curves, LinearIntpol)
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{
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MODEL_RESET();
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for (int8_t i=-2; i<=2; i++) {
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g_model.points[2+i] = 50*i;
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}
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EXPECT_EQ(applyCustomCurve(-1024, 0), -1024);
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EXPECT_EQ(applyCustomCurve(0, 0), 0);
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EXPECT_EQ(applyCustomCurve(1024, 0), 1024);
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EXPECT_EQ(applyCustomCurve(-192, 0), -192);
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}
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#if !defined(CPUARM)
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TEST(FlightModes, nullFadeOut_posFadeIn)
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{
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MODEL_RESET();
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g_model.flightModeData[1].swtch = SWSRC_ID1;
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g_model.flightModeData[1].fadeIn = 15;
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perMain();
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simuSetSwitch(3, 0);
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perMain();
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}
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TEST(Mixer, R2029Comment)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].srcRaw = MIXSRC_CH2;
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g_model.mixData[0].swtch = -SWSRC_THR;
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g_model.mixData[0].weight = 100;
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g_model.mixData[1].destCh = 1;
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g_model.mixData[1].srcRaw = MIXSRC_Thr;
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g_model.mixData[1].swtch = SWSRC_THR;
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g_model.mixData[1].weight = 100;
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anaInValues[THR_STICK] = 1024;
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simuSetSwitch(0, 1);
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[0], 0);
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EXPECT_EQ(chans[1], CHANNEL_MAX);
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simuSetSwitch(0, 0);
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[0], 0);
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EXPECT_EQ(chans[1], 0);
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simuSetSwitch(0, 1);
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[0], 0);
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EXPECT_EQ(chans[1], CHANNEL_MAX);
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}
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TEST(Mixer, Cascaded3Channels)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].srcRaw = MIXSRC_CH2;
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g_model.mixData[0].weight = 100;
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g_model.mixData[1].destCh = 1;
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g_model.mixData[1].srcRaw = MIXSRC_CH3;
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g_model.mixData[1].weight = 100;
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g_model.mixData[2].destCh = 2;
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g_model.mixData[2].srcRaw = MIXSRC_THR;
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g_model.mixData[2].weight = 100;
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simuSetSwitch(0, 1);
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[0], CHANNEL_MAX);
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EXPECT_EQ(chans[1], CHANNEL_MAX);
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EXPECT_EQ(chans[2], CHANNEL_MAX);
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}
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TEST(Mixer, CascadedOrderedChannels)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].srcRaw = MIXSRC_THR;
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g_model.mixData[0].weight = 100;
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g_model.mixData[1].destCh = 1;
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g_model.mixData[1].srcRaw = MIXSRC_CH1;
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g_model.mixData[1].weight = 100;
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simuSetSwitch(0, 1);
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[0], CHANNEL_MAX);
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EXPECT_EQ(chans[1], CHANNEL_MAX);
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}
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TEST(Mixer, Cascaded5Channels)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].srcRaw = MIXSRC_CH2;
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g_model.mixData[0].weight = 100;
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g_model.mixData[1].destCh = 1;
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g_model.mixData[1].srcRaw = MIXSRC_CH3;
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g_model.mixData[1].weight = 100;
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g_model.mixData[2].destCh = 2;
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g_model.mixData[2].srcRaw = MIXSRC_CH4;
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g_model.mixData[2].weight = 100;
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g_model.mixData[3].destCh = 3;
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g_model.mixData[3].srcRaw = MIXSRC_CH5;
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g_model.mixData[3].weight = 100;
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g_model.mixData[4].destCh = 4;
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g_model.mixData[4].srcRaw = MIXSRC_THR;
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g_model.mixData[4].weight = 100;
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for (uint8_t i=0; i<10; i++) {
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simuSetSwitch(0, 1);
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doMixerCalculations();
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EXPECT_EQ(chans[0], CHANNEL_MAX);
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EXPECT_EQ(chans[1], CHANNEL_MAX);
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EXPECT_EQ(chans[2], CHANNEL_MAX);
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EXPECT_EQ(chans[3], CHANNEL_MAX);
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EXPECT_EQ(chans[4], CHANNEL_MAX);
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simuSetSwitch(0, 0);
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doMixerCalculations();
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EXPECT_EQ(chans[0], -CHANNEL_MAX);
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EXPECT_EQ(chans[1], -CHANNEL_MAX);
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EXPECT_EQ(chans[2], -CHANNEL_MAX);
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EXPECT_EQ(chans[3], -CHANNEL_MAX);
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EXPECT_EQ(chans[4], -CHANNEL_MAX);
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}
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}
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#endif
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TEST(Mixer, InfiniteRecursiveChannels)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].srcRaw = MIXSRC_CH2;
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g_model.mixData[0].weight = 100;
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g_model.mixData[1].destCh = 1;
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g_model.mixData[1].srcRaw = MIXSRC_CH3;
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g_model.mixData[1].weight = 100;
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g_model.mixData[2].destCh = 2;
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g_model.mixData[2].srcRaw = MIXSRC_CH1;
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g_model.mixData[2].weight = 100;
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[2], 0);
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EXPECT_EQ(chans[1], 0);
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EXPECT_EQ(chans[0], 0);
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}
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TEST(Mixer, BlockingChannel)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].srcRaw = MIXSRC_CH1;
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g_model.mixData[0].weight = 100;
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[0], 0);
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}
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TEST(Mixer, RecursiveAddChannel)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].mltpx = MLTPX_ADD;
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g_model.mixData[0].srcRaw = MIXSRC_MAX;
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g_model.mixData[0].weight = 50;
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g_model.mixData[1].destCh = 0;
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g_model.mixData[1].mltpx = MLTPX_ADD;
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g_model.mixData[1].srcRaw = MIXSRC_CH2;
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g_model.mixData[1].weight = 100;
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g_model.mixData[2].destCh = 1;
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g_model.mixData[2].srcRaw = MIXSRC_Rud;
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g_model.mixData[2].weight = 100;
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[0], CHANNEL_MAX/2);
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EXPECT_EQ(chans[1], 0);
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}
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TEST(Mixer, RecursiveAddChannelAfterInactivePhase)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.flightModeData[1].swtch = SWSRC_ID1;
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].mltpx = MLTPX_ADD;
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g_model.mixData[0].srcRaw = MIXSRC_CH2;
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g_model.mixData[0].flightModes = 0b11110;
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g_model.mixData[0].weight = 50;
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g_model.mixData[1].destCh = 0;
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g_model.mixData[1].mltpx = MLTPX_ADD;
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g_model.mixData[1].srcRaw = MIXSRC_MAX;
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g_model.mixData[1].flightModes = 0b11101;
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g_model.mixData[1].weight = 50;
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g_model.mixData[2].destCh = 1;
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g_model.mixData[2].srcRaw = MIXSRC_MAX;
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g_model.mixData[2].weight = 100;
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simuSetSwitch(3, -1);
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perMain();
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EXPECT_EQ(chans[0], CHANNEL_MAX/2);
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EXPECT_EQ(chans[1], CHANNEL_MAX);
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simuSetSwitch(3, 0);
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perMain();
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EXPECT_EQ(chans[0], CHANNEL_MAX/2);
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EXPECT_EQ(chans[1], CHANNEL_MAX);
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}
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#define CHECK_NO_MOVEMENT(channel, value, duration) \
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for (int i=1; i<=(duration); i++) { \
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evalFlightModeMixes(e_perout_mode_normal, 1); \
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EXPECT_EQ(chans[(channel)], (value)); \
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}
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#define CHECK_SLOW_MOVEMENT(channel, sign, duration) \
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do { \
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for (int i=1; i<=(duration); i++) { \
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evalFlightModeMixes(e_perout_mode_normal, 1); \
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lastAct = lastAct + (sign) * (1<<19)/500; /* 100 on ARM */ \
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EXPECT_EQ(chans[(channel)], 256 * (lastAct >> 8)); \
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} \
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} while (0)
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#define CHECK_DELAY(channel, duration) \
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do { \
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int32_t value = chans[(channel)]; \
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for (int i=1; i<=(duration); i++) { \
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evalFlightModeMixes(e_perout_mode_normal, 1); \
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EXPECT_EQ(chans[(channel)], value); \
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} \
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} while (0)
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#if !defined(CPUARM)
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TEST(Mixer, SlowOnSwitch)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].mltpx = MLTPX_ADD;
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g_model.mixData[0].srcRaw = MIXSRC_MAX;
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g_model.mixData[0].weight = 100;
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g_model.mixData[0].swtch = SWSRC_THR;
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g_model.mixData[0].speedUp = SLOW_STEP*5;
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g_model.mixData[0].speedDown = SLOW_STEP*5;
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s_mixer_first_run_done = true;
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evalFlightModeMixes(e_perout_mode_normal, 0);
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EXPECT_EQ(chans[0], 0);
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simuSetSwitch(0, 1);
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CHECK_SLOW_MOVEMENT(0, +1, 250);
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simuSetSwitch(0, -1);
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CHECK_SLOW_MOVEMENT(0, -1, 250);
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}
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TEST(Mixer, SlowUpOnSwitch)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].mltpx = MLTPX_ADD;
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g_model.mixData[0].srcRaw = MIXSRC_MAX;
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g_model.mixData[0].weight = 100;
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g_model.mixData[0].swtch = SWSRC_THR;
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g_model.mixData[0].speedUp = SLOW_STEP*5;
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g_model.mixData[0].speedDown = 0;
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simuSetSwitch(0, 0);
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evalFlightModeMixes(e_perout_mode_normal, 0);
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s_mixer_first_run_done = true;
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EXPECT_EQ(chans[0], 0);
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simuSetSwitch(0, 1);
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CHECK_SLOW_MOVEMENT(0, +1, 250);
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simuSetSwitch(0, 0);
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evalFlightModeMixes(e_perout_mode_normal, 1);
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EXPECT_EQ(chans[0], 0);
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lastAct = 0;
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simuSetSwitch(0, 1);
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CHECK_SLOW_MOVEMENT(0, +1, 100);
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}
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#endif
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TEST(Mixer, SlowOnPhase)
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{
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MODEL_RESET();
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MIXER_RESET();
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g_model.flightModeData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
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g_model.mixData[0].destCh = 0;
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g_model.mixData[0].mltpx = MLTPX_ADD;
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g_model.mixData[0].srcRaw = MIXSRC_MAX;
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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;
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
#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(PCBTARANIS)
|
||||
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(PCBTARANIS)
|
||||
TEST(Heli, BasicTest)
|
||||
{
|
||||
MODEL_RESET();
|
||||
applyDefaultTemplate();
|
||||
g_model.swashR.collectiveSource = MIXSRC_Thr;
|
||||
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.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);
|
||||
}
|
||||
#elif defined(HELI)
|
||||
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
|
||||
Reference in New Issue
Block a user