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edgetx-gx12/radio/src/tests/mixer.cpp
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/*
* Copyright (C) EdgeTX
*
* Based on code named
* opentx - https://github.com/opentx/opentx
* 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 "hal/adc_driver.h"
class TrimsTest : public OpenTxTest {};
class MixerTest : public OpenTxTest {};
#define CHECK_NO_MOVEMENT(channel, value, duration) \
for (int i=1; i<=(duration); i++) { \
evalFlightModeMixes(e_perout_mode_normal, 1); \
GTEST_ASSERT_EQ((value), chans[(channel)]); \
}
#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 */ \
GTEST_ASSERT_EQ(256 * (lastAct >> 8), chans[(channel)]); \
} \
} 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); \
GTEST_ASSERT_EQ(chans[(channel)], value); \
} \
} while (0)
#define CHECK_FLIGHT_MODE_TRANSITION(channel, duration, initValue, endValue) \
do { \
uint32_t delta = 0xffff / duration; \
int32_t weightInit = 0xffff; \
int32_t weightEnd = 0; \
for (int i = 0; i <= (duration); i++) { \
evalMixes(1); \
GTEST_ASSERT_LE( abs(((initValue) * weightInit + (endValue) * weightEnd) / 0xffff - channelOutputs[(channel)]), 1); \
weightInit = weightInit - delta; \
weightEnd = weightEnd + delta; \
} \
for (int i = 0; i < 100; i++) { /* be sure the transition is finished*/ \
evalMixes(1); \
} \
} while (0)
#define MIXSRC_Ele (MIXSRC_FIRST_STICK + 1)
#define MIXSRC_Ail (MIXSRC_FIRST_STICK + 3)
#define MIXSRC_TrimEle (MIXSRC_FIRST_TRIM + 1)
#define MIXSRC_TrimThr (MIXSRC_FIRST_TRIM + 2)
#define MIXSRC_CYC1 (MIXSRC_FIRST_HELI)
#define MIXSRC_CYC2 (MIXSRC_FIRST_HELI + 1)
#define MIXSRC_CYC3 (MIXSRC_FIRST_HELI + 2)
TEST_F(MixerTest, throttleInvert)
{
// Mode 1 / reversed
g_eeGeneral.stickMode = 0;
g_model.throttleReversed = 1;
anaSetFiltered(inputMappingConvertMode(THR_STICK), -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// Mode 2 / reversed
g_eeGeneral.stickMode = 1;
g_model.throttleReversed = 1;
anaSetFiltered(inputMappingConvertMode(THR_STICK), -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// Mode 2 / normal
g_eeGeneral.stickMode = 1;
g_model.throttleReversed = 0;
anaSetFiltered(inputMappingConvertMode(THR_STICK), -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
}
TEST_F(TrimsTest, throttleTrim)
{
g_model.thrTrim = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+512);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+256);
// stick min + trim min
anaSetFiltered(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
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2048);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1024);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
}
TEST_F(TrimsTest, invertedThrottlePlusThrottleTrim)
{
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+256);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+512);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaSetFiltered(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
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1024);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2048);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
}
TEST_F(TrimsTest, throttleTrimWithZeroWeightOnThrottle)
{
g_model.thrTrim = 1;
// the input already exists
ExpoData *expo = expoAddress(THR_STICK);
expo->weight = 0;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 256);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 128), 1); //can't use precise comparison here because of lower precision math on 9X
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 256);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 128), 1);
// stick min + trim min
anaSetFiltered(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);
anaSetFiltered(THR_STICK, -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, -300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, +300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(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);
anaSetFiltered(THR_STICK, -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, -300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, +300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, +1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
}
TEST_F(TrimsTest, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
{
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
// the input already exists
ExpoData *expo = expoAddress(THR_STICK);
expo->weight = 0;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 128), 1);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 256);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 128), 1);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 256);
// 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);
anaSetFiltered(THR_STICK, -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, -300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, +300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, +1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// trim max + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
anaSetFiltered(THR_STICK, -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, -300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, +300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, +1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
}
TEST_F(TrimsTest, CopyTrimsToOffset)
{
setTrimValue(0, ELE_STICK, -100); // -100 on elevator
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);
}
TEST_F(TrimsTest, CopySticksToOffset)
{
anaSetFiltered(ELE_STICK, -100);
evalMixes(1);
copySticksToOffset(1);
#if defined(STICK_DEAD_ZONE)
EXPECT_EQ(g_model.limitData[1].offset, -93);
#else
EXPECT_EQ(g_model.limitData[1].offset, -97);
#endif
}
TEST_F(TrimsTest, MoveTrimsToOffsets)
{
// No trim idle only
g_model.thrTrim = 0;
anaSetFiltered(THR_STICK, 0);
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is reflecting 100 trim
moveTrimsToOffsets();
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[2].offset, 195); // value transferred
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is still reflecting 100 trim
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithTrimIdle)
{
// Trim idle only
g_model.thrTrim = 1;
anaSetFiltered(THR_STICK, -1024); // Min stick
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -568); // THR output value is reflecting 100 trim idle
moveTrimsToOffsets();
// Trim affecting Throttle should not be affected
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 100); // unchanged
EXPECT_EQ(g_model.limitData[2].offset, 0); // unchanged
// Other trims should
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -568); // THR output value is still reflecting 100 trim idle
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithCrossTrims)
{
// No trim idle only
// Cross trims
g_model.thrTrim = 0;
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->trimSource = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->trimSource = TRIM_THR;
anaSetFiltered(THR_STICK, 0);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is reflecting 100 Ele trim
moveTrimsToOffsets();
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value remains unchanged
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[2].offset, 195); // value transferred
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithCrosstrimsAndTrimIdle)
{
// Trim idle only
// Cross trims
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->trimSource = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->trimSource = TRIM_THR;
anaSetFiltered(THR_STICK, -1024); // Min stick
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -568); // THR output value is reflecting 100 ele trim idle
moveTrimsToOffsets();
// Trim affecting Throttle (now Ele because of crosstrims) should not be affected
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 100); // unchanged
EXPECT_EQ(g_model.limitData[2].offset, 0); // THR chan offset unchanged
// Other trims should
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // Ele chan offset transfered
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -568); // THR output value is still reflecting 100 trim idle
}
TEST_F(TrimsTest, InstantTrim)
{
anaSetFiltered(AIL_STICK, 50);
instantTrim();
#if defined(STICK_DEAD_ZONE)
EXPECT_EQ(23, getTrimValue(0, AIL_STICK));
#else
EXPECT_EQ(25, getTrimValue(0, AIL_STICK));
#endif
}
TEST_F(TrimsTest, InstantTrimNegativeCurve)
{
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;
anaSetFiltered(AIL_STICK, 512);
instantTrim();
#if defined(STICK_DEAD_ZONE)
EXPECT_EQ(127, getTrimValue(0, AIL_STICK));
#else
EXPECT_EQ(128, getTrimValue(0, AIL_STICK));
#endif
}
TEST(Curves, LinearIntpol)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
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);
}
TEST_F(MixerTest, InfiniteRecursiveChannels)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH + 1;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_FIRST_CH + 2;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].srcRaw = MIXSRC_FIRST_CH;
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_F(MixerTest, BlockingChannel)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH;
g_model.mixData[0].weight = 100;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
}
TEST_F(MixerTest, RecursiveAddChannel)
{
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_FIRST_CH + 1;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_FIRST_STICK;
g_model.mixData[2].weight = 100;
anaSetFiltered(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], 0);
}
TEST_F(MixerTest, RecursiveAddChannelAfterInactivePhase)
{
g_model.flightModeData[1].swtch = SWSRC_FIRST_SWITCH + 1;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH + 1;
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);
evalMixes(1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(3, 0);
evalMixes(1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
TEST_F(MixerTest, SlowOnPhase)
{
g_model.flightModeData[1].swtch = SWSRC_FIRST_SWITCH;
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 = 50;
g_model.mixData[0].speedDown = 50;
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);
}
TEST_F(MixerTest, SlowOnSwitchSource)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_eeGeneral.switchConfig = 0x03;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_SWITCH;
int switchIndex = 0;
g_model.mixData[0].weight = 100;
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
s_mixer_first_run_done = true;
simuSetSwitch(switchIndex, -1);
CHECK_SLOW_MOVEMENT(0, -1, 250);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
simuSetSwitch(switchIndex, 1);
CHECK_SLOW_MOVEMENT(0, +1, 500);
}
TEST_F(MixerTest, SlowDisabledOnStartup)
{
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 = 50;
g_model.mixData[0].speedDown = 50;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX);
}
TEST_F(MixerTest, DelayOnSwitch)
{
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_FIRST_SWITCH + 2;
g_model.mixData[0].delayUp = 50;
g_model.mixData[0].delayDown = 50;
int switch_index = 0;
simuSetSwitch(switch_index, -1);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(switch_index, 1);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], CHANNEL_MAX);
simuSetSwitch(switch_index, 0);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], 0);
}
TEST_F(MixerTest, DelayOnSwitch2)
{
g_eeGeneral.switchConfig = SWITCH_3POS;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_SWITCH;
g_model.mixData[0].weight = 100;
// g_model.mixData[0].swtch = SWSRC_ON;
g_model.mixData[0].delayUp = 50;
g_model.mixData[0].delayDown = 50;
int switch_index = 0;
simuSetSwitch(switch_index, -1);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(switch_index, 1);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], CHANNEL_MAX);
simuSetSwitch(switch_index, 0);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], 0);
}
TEST_F(MixerTest, SlowOnMultiply)
{
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 = SWSRC_FIRST_SWITCH;
g_model.mixData[1].speedUp = 50;
g_model.mixData[1].speedDown = 50;
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);
}
TEST_F(TrimsTest, throttleTrimEle) {
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_eeGeneral.templateSetup = 17;
applyDefaultTemplate();
g_model.thrTrim = 1;
// checks ELE sticks are not affected by throttleTrim
// stick max + trim min
anaSetFiltered(ELE_STICK, +1024);
setTrimValue(0, ELE_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024 - 256);
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_eeGeneral.templateSetup = 0;
applyDefaultTemplate();
}
#if defined(HELI)
TEST(Heli, BasicTest)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
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;
anaSetFiltered(THR_STICK, 0);
anaSetFiltered(ELE_STICK, 1024);
anaSetFiltered(AIL_STICK, 0);
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)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
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;
anaSetFiltered(THR_STICK, 0);
anaSetFiltered(ELE_STICK, 1024);
anaSetFiltered(AIL_STICK, 0);
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);
SYSTEM_RESET();
}
#endif
TEST(Trainer, UnpluggedTest)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
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 = 50;
g_model.mixData[0].delayDown = 50;
trainerInputValidityTimer = 0;
trainerInput[0] = 1024;
CHECK_DELAY(0, 5000);
}
TEST_F(MixerTest, flightModeTransition)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_model.flightModeData[1].swtch = SWSRC_FIRST_SWITCH + 2;
g_model.flightModeData[0].fadeIn = 100;
g_model.flightModeData[0].fadeOut = 100;
g_model.flightModeData[1].fadeIn = 100;
g_model.flightModeData[1].fadeOut = 100;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_REPL;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].flightModes = 0b11110;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_REPL;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].flightModes = 0b11101;
g_model.mixData[1].weight = -10;
evalMixes(1);
simuSetSwitch(0, 1);
CHECK_FLIGHT_MODE_TRANSITION(0, 1000, 1024, -102);
}
TEST_F(MixerTest, flightModeOverflow)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_model.flightModeData[1].swtch = SWSRC_FIRST_SWITCH + 2;
g_model.flightModeData[0].fadeIn = 100;
g_model.flightModeData[0].fadeOut = 100;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_REPL;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].flightModes = 0;
g_model.mixData[0].weight = 250;
evalMixes(1);
simuSetSwitch(0, 1);
CHECK_FLIGHT_MODE_TRANSITION(0, 1000, 1024, 1024);
}
TEST_F(TrimsTest, throttleTrimWithCrossTrims)
{
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->trimSource = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->trimSource = TRIM_THR;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
anaSetFiltered(ELE_STICK, 0);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024 + 512);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024 + 256);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2048);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
}
TEST_F(TrimsTest, invertedThrottlePlusThrottleTrimWithCrossTrims)
{
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->trimSource = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->trimSource = TRIM_THR;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
anaSetFiltered(ELE_STICK, 0);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+256);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+512);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2048);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
}
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