src/test/unit/althold_unittest.cc

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Betaflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdbool.h>
  20 #include <limits.h>
  21
  22 extern "C" {
  23
  24     #include "platform.h"
  25     #include "build/debug.h"
  26     #include "pg/pg_ids.h"
  27
  28     #include "common/filter.h"
  29     #include "common/vector.h"
  30
  31     #include "fc/core.h"
  32     #include "fc/rc_controls.h"
  33     #include "fc/runtime_config.h"
  34
  35     #include "flight/alt_hold.h"
  36     #include "flight/failsafe.h"
  37     #include "flight/imu.h"
  38     #include "flight/pid.h"
  39     #include "flight/position.h"
  40
  41     #include "io/gps.h"
  42
  43     #include "rx/rx.h"
  44
  45     #include "pg/alt_hold.h"
  46     #include "pg/autopilot.h"
  47
  48     #include "sensors/acceleration.h"
  49     #include "sensors/gyro.h"
  50
  51     PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
  52     PG_REGISTER(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_CONFIG, 0);
  53     PG_REGISTER(apConfig_t, apConfig, PG_AUTOPILOT, 0);
  54     PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
  55     PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0);
  56     PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
  57
  58     bool failsafeIsActive(void) { return false; }
  59     timeUs_t currentTimeUs = 0;
  60     bool isAltHoldActive();
  61 }
  62
  63 #include "unittest_macros.h"
  64 #include "gtest/gtest.h"
  65
  66 uint32_t millisRW;
  67 uint32_t millis() {
  68     return millisRW;
  69 }
  70
  71 TEST(AltholdUnittest, altHoldTransitionsTest)
  72 {
  73     updateAltHold(currentTimeUs);
  74     EXPECT_EQ(isAltHoldActive(), false);
  75
  76     flightModeFlags |= ALT_HOLD_MODE;
  77     millisRW = 42;
  78     updateAltHold(currentTimeUs);
  79     EXPECT_EQ(isAltHoldActive(), true);
  80
  81     flightModeFlags ^= ALT_HOLD_MODE;
  82     millisRW = 56;
  83     updateAltHold(currentTimeUs);
  84     EXPECT_EQ(isAltHoldActive(), false);
  85
  86     flightModeFlags |= ALT_HOLD_MODE;
  87     millisRW = 64;
  88     updateAltHold(currentTimeUs);
  89     EXPECT_EQ(isAltHoldActive(), true);
  90 }
  91
  92 TEST(AltholdUnittest, altHoldTransitionsTestUnfinishedExitEnter)
  93 {
  94     altHoldInit();
  95     EXPECT_EQ(isAltHoldActive(), false);
  96
  97     flightModeFlags |= ALT_HOLD_MODE;
  98     millisRW = 42;
  99     updateAltHold(currentTimeUs);
 100     EXPECT_EQ(isAltHoldActive(), true);
 101 }
 102
 103 // STUBS
 104
 105 extern "C" {
 106     uint8_t armingFlags = 0;
 107     int16_t debug[DEBUG16_VALUE_COUNT];
 108     uint8_t debugMode;
 109     uint16_t flightModeFlags = 0;
 110     uint8_t stateFlags = 0;
 111
 112     acc_t acc;
 113     attitudeEulerAngles_t attitude;
 114     gpsSolutionData_t gpsSol;
 115
 116     float getAltitudeCm(void) { return 0.0f; }
 117     float getAltitudeDerivative(void) { return 0.0f; }
 118     float getCosTiltAngle(void) { return 0.0f; }
 119     float getGpsDataIntervalSeconds(void) { return 0.01f; }
 120     float getGpsDataFrequencyHz(void) { return 10.0f; }
 121     float rcCommand[4];
 122
 123     bool gpsHasNewData(uint16_t* gpsStamp) {
 124         UNUSED(*gpsStamp);
 125         return true;
 126     }
 127
 128     void GPS_distance2d(const gpsLocation_t* /*from*/, const gpsLocation_t* /*to*/, vector2_t* /*dest*/) { }
 129
 130     void parseRcChannels(const char *input, rxConfig_t *rxConfig) {
 131         UNUSED(input);
 132         UNUSED(rxConfig);
 133     }
 134
 135     throttleStatus_e calculateThrottleStatus() {
 136         return THROTTLE_LOW;
 137     }
 138 }