src/test/unit/osd_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight 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  * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdbool.h>
  20 #include <stdio.h>
  21 #include <string.h>
  22
  23 extern "C" {
  24     #include "platform.h"
  25
  26     #include "build/debug.h"
  27
  28     #include "blackbox/blackbox.h"
  29     #include "blackbox/blackbox_io.h"
  30
  31     #include "common/time.h"
  32
  33     #include "config/config.h"
  34     #include "config/feature.h"
  35
  36     #include "drivers/osd_symbols.h"
  37     #include "drivers/persistent.h"
  38     #include "drivers/serial.h"
  39
  40     #include "fc/core.h"
  41     #include "fc/rc_controls.h"
  42     #include "fc/rc_modes.h"
  43     #include "fc/runtime_config.h"
  44
  45     #include "flight/gps_rescue.h"
  46     #include "flight/imu.h"
  47     #include "flight/mixer.h"
  48     #include "flight/pid.h"
  49
  50     #include "io/beeper.h"
  51     #include "io/gps.h"
  52
  53     #include "osd/osd.h"
  54     #include "osd/osd_elements.h"
  55     #include "osd/osd_warnings.h"
  56
  57     #include "pg/pg.h"
  58     #include "pg/pg_ids.h"
  59     #include "pg/rx.h"
  60
  61     #include "sensors/acceleration.h"
  62     #include "sensors/battery.h"
  63
  64     #include "rx/rx.h"
  65
  66     void osdUpdate(timeUs_t currentTimeUs);
  67     void osdFormatTime(char * buff, osd_timer_precision_e precision, timeUs_t time);
  68     int osdConvertTemperatureToSelectedUnit(int tempInDegreesCelcius);
  69
  70     uint16_t rssi;
  71     attitudeEulerAngles_t attitude;
  72     float rMat[3][3];
  73
  74     pidProfile_t *currentPidProfile;
  75     int16_t debug[DEBUG16_VALUE_COUNT];
  76     float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  77     uint8_t GPS_numSat;
  78     uint16_t GPS_distanceToHome;
  79     int16_t GPS_directionToHome;
  80     uint32_t GPS_distanceFlownInCm;
  81     int32_t GPS_coord[2];
  82     gpsSolutionData_t gpsSol;
  83     float motor[8];
  84
  85     linkQualitySource_e linkQualitySource;
  86
  87     acc_t acc;
  88     float accAverage[XYZ_AXIS_COUNT];
  89
  90     PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
  91     PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
  92     PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
  93     PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
  94     PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
  95     PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
  96     PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
  97
  98     timeUs_t simulationTime = 0;
  99     batteryState_e simulationBatteryState;
 100     uint8_t simulationBatteryCellCount;
 101     uint16_t simulationBatteryVoltage;
 102     uint32_t simulationBatteryAmperage;
 103     uint32_t simulationMahDrawn;
 104     int32_t simulationAltitude;
 105     int32_t simulationVerticalSpeed;
 106     uint16_t simulationCoreTemperature;
 107     bool simulationGpsHealthy;
 108 }
 109
 110 uint32_t simulationFeatureFlags = FEATURE_GPS;
 111
 112 /* #define DEBUG_OSD */
 113
 114 #include "unittest_macros.h"
 115 #include "unittest_displayport.h"
 116 #include "gtest/gtest.h"
 117
 118 void setDefaultSimulationState()
 119 {
 120     memset(osdElementConfigMutable(), 0, sizeof(osdElementConfig_t));
 121
 122     osdConfigMutable()->enabled_stats = 0;
 123     osdConfigMutable()->framerate_hz = 12;
 124
 125     rssi = 1024;
 126
 127     simulationBatteryState = BATTERY_OK;
 128     simulationBatteryCellCount = 4;
 129     simulationBatteryVoltage = 1680;
 130     simulationBatteryAmperage = 0;
 131     simulationMahDrawn = 0;
 132     simulationAltitude = 0;
 133     simulationVerticalSpeed = 0;
 134     simulationCoreTemperature = 0;
 135     simulationGpsHealthy = false;
 136
 137     rcData[PITCH] = 1500;
 138
 139     osdFlyTime = 0;
 140
 141     DISABLE_ARMING_FLAG(ARMED);
 142 }
 143
 144 void osdRefresh()
 145 {
 146     while (osdUpdateCheck(simulationTime, 0)) {
 147         osdUpdate(simulationTime);
 148         simulationTime += 10;
 149     }
 150     simulationTime += 0.1e6;
 151 }
 152 /*
 153  * Performs a test of the OSD actions on arming.
 154  * (reused throughout the test suite)
 155  */
 156 void doTestArm(bool testEmpty = true)
 157 {
 158     // given
 159     // craft has been armed
 160     ENABLE_ARMING_FLAG(ARMED);
 161
 162     simulationTime += 5e6;
 163     // when
 164     // sufficient OSD updates have been called
 165     osdRefresh();
 166
 167     // then
 168     // arming alert displayed
 169     displayPortTestBufferSubstring(12, 7, "ARMED");
 170
 171     // given
 172     // armed alert times out (0.5 seconds)
 173     simulationTime += 0.5e6;
 174
 175     // when
 176     // sufficient OSD updates have been called
 177     osdRefresh();
 178
 179     // then
 180     // arming alert disappears
 181 #ifdef DEBUG_OSD
 182     displayPortTestPrint();
 183 #endif
 184     if (testEmpty) {
 185         displayPortTestBufferIsEmpty();
 186     }
 187 }
 188
 189 /*
 190  * Auxiliary function. Test is there're stats that must be shown
 191  */
 192 bool isSomeStatEnabled(void) {
 193     return (osdConfigMutable()->enabled_stats != 0);
 194 }
 195
 196 /*
 197  * Performs a test of the OSD actions on disarming.
 198  * (reused throughout the test suite)
 199  */
 200 void doTestDisarm()
 201 {
 202     // given
 203     // craft is disarmed after having been armed
 204     DISABLE_ARMING_FLAG(ARMED);
 205
 206     // when
 207     // sufficient OSD updates have been called
 208     osdRefresh();
 209
 210     // then
 211     // post flight statistics displayed
 212     if (isSomeStatEnabled()) {
 213         unsigned enabledStats = osdConfigMutable()->enabled_stats;
 214         unsigned count = 0;
 215         while (enabledStats) {
 216            count += enabledStats & 1;
 217            enabledStats >>= 1;
 218         }
 219
 220         displayPortTestBufferSubstring(2, 7 - count / 2, "  --- STATS ---");
 221     }
 222 }
 223
 224 void setupStats(void)
 225 {
 226     // this set of enabled post flight statistics
 227     osdStatSetState(OSD_STAT_MAX_SPEED, true);
 228     osdStatSetState(OSD_STAT_MIN_BATTERY, true);
 229     osdStatSetState(OSD_STAT_MIN_RSSI, true);
 230     osdStatSetState(OSD_STAT_MAX_CURRENT, false);
 231     osdStatSetState(OSD_STAT_USED_MAH, false);
 232     osdStatSetState(OSD_STAT_MAX_ALTITUDE, true);
 233     osdStatSetState(OSD_STAT_BLACKBOX, false);
 234     osdStatSetState(OSD_STAT_END_BATTERY, true);
 235     osdStatSetState(OSD_STAT_RTC_DATE_TIME, true);
 236     osdStatSetState(OSD_STAT_MAX_DISTANCE, true);
 237     osdStatSetState(OSD_STAT_FLIGHT_DISTANCE, true);
 238     osdStatSetState(OSD_STAT_BLACKBOX_NUMBER, false);
 239     osdStatSetState(OSD_STAT_MAX_G_FORCE, false);
 240     osdStatSetState(OSD_STAT_MAX_ESC_TEMP, false);
 241     osdStatSetState(OSD_STAT_MAX_ESC_RPM, false);
 242 }
 243
 244 void simulateFlight(void)
 245 {
 246     // these conditions occur during flight
 247     rssi = 1024;
 248     gpsSol.groundSpeed = 500;
 249     GPS_distanceToHome = 20;
 250     GPS_distanceFlownInCm = 2000;
 251     simulationBatteryVoltage = 1580;
 252     simulationAltitude = 100;
 253     simulationTime += 1e6;
 254     while (osdUpdateCheck(simulationTime, 0)) {
 255         osdUpdate(simulationTime);
 256         simulationTime += 10;
 257     }
 258
 259     rssi = 512;
 260     gpsSol.groundSpeed = 800;
 261     GPS_distanceToHome = 50;
 262     GPS_distanceFlownInCm = 10000;
 263     simulationBatteryVoltage = 1470;
 264     simulationAltitude = 150;
 265     simulationTime += 1e6;
 266     while (osdUpdateCheck(simulationTime, 0)) {
 267         osdUpdate(simulationTime);
 268         simulationTime += 10;
 269     }
 270
 271     rssi = 256;
 272     gpsSol.groundSpeed = 200;
 273     GPS_distanceToHome = 100;
 274     GPS_distanceFlownInCm = 20000;
 275     simulationBatteryVoltage = 1520;
 276     simulationAltitude = 200;
 277     simulationTime += 1e6;
 278     while (osdUpdateCheck(simulationTime, 0)) {
 279         osdUpdate(simulationTime);
 280         simulationTime += 10;
 281     }
 282
 283     rssi = 256;
 284     gpsSol.groundSpeed = 800;
 285     GPS_distanceToHome = 100;
 286     GPS_distanceFlownInCm = 10000;
 287     simulationBatteryVoltage = 1470;
 288     simulationAltitude = 200; // converts to 6.56168 feet which rounds to 6.6 in imperial units stats test
 289     simulationTime += 1e6;
 290     while (osdUpdateCheck(simulationTime, 0)) {
 291         osdUpdate(simulationTime);
 292         simulationTime += 10;
 293     }
 294
 295     simulationBatteryVoltage = 1520;
 296     simulationTime += 1e6;
 297     while (osdUpdateCheck(simulationTime, 0)) {
 298         osdUpdate(simulationTime);
 299         simulationTime += 10;
 300     }
 301
 302     rssi = 256;
 303     gpsSol.groundSpeed = 800;
 304     GPS_distanceToHome = 1150;
 305     GPS_distanceFlownInCm = 1050000;
 306     simulationBatteryVoltage = 1470;
 307     simulationAltitude = 200;
 308     simulationTime += 1e6;
 309     while (osdUpdateCheck(simulationTime, 0)) {
 310         osdUpdate(simulationTime);
 311         simulationTime += 10;
 312     }
 313
 314     simulationBatteryVoltage = 1520;
 315     simulationTime += 1e6;
 316 }
 317
 318 class OsdTest : public ::testing::Test
 319 {
 320 protected:
 321     static void SetUpTestCase() {
 322         displayPortTestInit();
 323     }
 324
 325     virtual void SetUp() {
 326         setDefaultSimulationState();
 327     }
 328
 329     virtual void TearDown() {
 330         // Clean up the armed state without showing stats at the end of a test
 331         osdConfigMutable()->enabled_stats = 0;
 332
 333         doTestDisarm();
 334     }
 335 };
 336
 337 /*
 338  * Tests initialisation of the OSD and the power on splash screen.
 339  */
 340 TEST_F(OsdTest, TestInit)
 341 {
 342     // given
 343     // display port is initialised
 344     displayPortTestInit();
 345
 346     // and
 347     // default state values are set
 348     setDefaultSimulationState();
 349
 350     // and
 351     // this battery configuration (used for battery voltage elements)
 352     batteryConfigMutable()->vbatmincellvoltage = 330;
 353     batteryConfigMutable()->vbatmaxcellvoltage = 430;
 354
 355     // when
 356     // OSD is initialised
 357     osdInit(&testDisplayPort, OSD_DISPLAYPORT_DEVICE_AUTO);
 358
 359     osdRefresh();
 360
 361     // then
 362     // display buffer should contain splash screen
 363     displayPortTestBufferSubstring(7, 8, "MENU:THR MID");
 364     displayPortTestBufferSubstring(11, 9, "+ YAW LEFT");
 365     displayPortTestBufferSubstring(11, 10, "+ PITCH UP");
 366
 367     // when
 368     // splash screen timeout has elapsed
 369     simulationTime += 4e6;
 370     osdRefresh();
 371
 372     // then
 373     // display buffer should be empty
 374 #ifdef DEBUG_OSD
 375     displayPortTestPrint();
 376 #endif
 377     displayPortTestBufferIsEmpty();
 378 }
 379
 380 /*
 381  * Tests visibility of the ARMED notification after arming.
 382  */
 383 TEST_F(OsdTest, TestArm)
 384 {
 385     doTestArm();
 386 }
 387
 388 /*
 389  * Tests display and timeout of the post flight statistics screen after disarming.
 390  */
 391 TEST_F(OsdTest, TestDisarm)
 392 {
 393     doTestArm();
 394
 395     doTestDisarm();
 396
 397     // given
 398     // post flight stats times out (60 seconds)
 399     simulationTime += 60e6;
 400
 401     // when
 402     // sufficient OSD updates have been called
 403     osdRefresh();
 404
 405     // then
 406     // post flight stats screen disappears
 407 #ifdef DEBUG_OSD
 408     displayPortTestPrint();
 409 #endif
 410     displayPortTestBufferIsEmpty();
 411 }
 412
 413 /*
 414  * Tests disarming and immediately rearming clears post flight stats and shows ARMED notification.
 415  */
 416 TEST_F(OsdTest, TestDisarmWithImmediateRearm)
 417 {
 418     doTestArm();
 419
 420     doTestDisarm();
 421
 422     doTestArm();
 423 }
 424
 425 /*
 426  * Tests dismissing the statistics screen with pitch stick after disarming.
 427  */
 428 TEST_F(OsdTest, TestDisarmWithDismissStats)
 429 {
 430     doTestArm();
 431
 432     doTestDisarm();
 433
 434     // given
 435     // sticks have been moved
 436     rcData[PITCH] = 1800;
 437
 438     // when
 439     // sufficient OSD updates have been called
 440     osdRefresh();
 441
 442     // then
 443     // post flight stats screen disappears
 444 #ifdef DEBUG_OSD
 445     displayPortTestPrint();
 446 #endif
 447     displayPortTestBufferIsEmpty();
 448 }
 449
 450 /*
 451  * Tests the calculation of timing in statistics
 452  */
 453 TEST_F(OsdTest, TestStatsTiming)
 454 {
 455     // given
 456     osdStatSetState(OSD_STAT_RTC_DATE_TIME, true);
 457     osdStatSetState(OSD_STAT_TIMER_1, true);
 458     osdStatSetState(OSD_STAT_TIMER_2, true);
 459
 460     // and
 461     // this timer 1 configuration
 462     osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_HUNDREDTHS, 0);
 463
 464     // and
 465     // this timer 2 configuration
 466     osdConfigMutable()->timers[OSD_TIMER_2] = OSD_TIMER(OSD_TIMER_SRC_LAST_ARMED, OSD_TIMER_PREC_SECOND, 0);
 467
 468     // and
 469     // this RTC time
 470     dateTime_t dateTime;
 471     dateTime.year = 2017;
 472     dateTime.month = 11;
 473     dateTime.day = 19;
 474     dateTime.hours = 10;
 475     dateTime.minutes = 12;
 476     dateTime.seconds = 0;
 477     dateTime.millis = 0;
 478     rtcSetDateTime(&dateTime);
 479
 480     // when
 481     // the craft is armed
 482     doTestArm();
 483
 484     // and
 485     // these conditions occur during flight
 486     simulationTime += 1e6;
 487     osdRefresh();
 488
 489     // and
 490     // the craft is disarmed
 491     doTestDisarm();
 492
 493     // and
 494     // the craft is armed again
 495     doTestArm();
 496
 497     // and
 498     // these conditions occur during flight
 499     simulationTime += 1e6;
 500     osdRefresh();
 501
 502     // and
 503     // the craft is disarmed
 504     doTestDisarm();
 505
 506     // then
 507     // statistics screen should display the following
 508     int row = 7;
 509     displayPortTestBufferSubstring(2, row++, "2017-11-19 10:12:");
 510     displayPortTestBufferSubstring(2, row++, "TOTAL ARM         : 00:13.61");
 511     displayPortTestBufferSubstring(2, row++, "LAST ARM          : 00:01");
 512 }
 513
 514 /*
 515  * Tests the calculation of statistics with imperial unit output.
 516  */
 517 TEST_F(OsdTest, TestStatsImperial)
 518 {
 519     // given
 520     setupStats();
 521
 522     // and
 523     // using imperial unit system
 524     osdConfigMutable()->units = UNIT_IMPERIAL;
 525
 526     // and
 527     // a GPS fix is present
 528     stateFlags |= GPS_FIX | GPS_FIX_HOME;
 529
 530     // when
 531     // the craft is armed
 532     doTestArm();
 533
 534     // and
 535     simulateFlight();
 536
 537     // and
 538     // the craft is disarmed
 539     doTestDisarm();
 540
 541     // then
 542     // statistics screen should display the following
 543     int row = 5;
 544     displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE      : 6.6%c", SYM_FT);
 545     displayPortTestBufferSubstring(2, row++, "MAX SPEED         : 17");
 546     displayPortTestBufferSubstring(2, row++, "MAX DISTANCE      : 3772%c", SYM_FT);
 547     displayPortTestBufferSubstring(2, row++, "FLIGHT DISTANCE   : 6.52%c", SYM_MILES);
 548     displayPortTestBufferSubstring(2, row++, "MIN BATTERY       : 14.70%c", SYM_VOLT);
 549     displayPortTestBufferSubstring(2, row++, "END BATTERY       : 15.20%c", SYM_VOLT);
 550     displayPortTestBufferSubstring(2, row++, "MIN RSSI          : 25%%");
 551 }
 552
 553 /*
 554  * Tests the calculation of statistics with metric unit output.
 555  * (essentially an abridged version of the previous test
 556  */
 557 TEST_F(OsdTest, TestStatsMetric)
 558 {
 559     // given
 560     setupStats();
 561
 562     // and
 563     // using metric unit system
 564     osdConfigMutable()->units = UNIT_METRIC;
 565
 566     // when
 567     // the craft is armed
 568     doTestArm();
 569
 570     // and
 571     simulateFlight();
 572
 573     // and
 574     // the craft is disarmed
 575     doTestDisarm();
 576
 577     // then
 578     // statistics screen should display the following
 579     int row = 5;
 580     displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE      : 2.0%c", SYM_M);
 581     displayPortTestBufferSubstring(2, row++, "MAX SPEED         : 28");
 582     displayPortTestBufferSubstring(2, row++, "MAX DISTANCE      : 1.15%c", SYM_KM);
 583     displayPortTestBufferSubstring(2, row++, "FLIGHT DISTANCE   : 10.5%c", SYM_KM);
 584     displayPortTestBufferSubstring(2, row++, "MIN BATTERY       : 14.70%c", SYM_VOLT);
 585     displayPortTestBufferSubstring(2, row++, "END BATTERY       : 15.20%c", SYM_VOLT);
 586     displayPortTestBufferSubstring(2, row++, "MIN RSSI          : 25%%");
 587 }
 588
 589 /*
 590  * Tests the calculation of statistics with metric unit output.
 591  * (essentially an abridged version of the previous test
 592  */
 593 TEST_F(OsdTest, TestStatsMetricDistanceUnits)
 594 {
 595     // given
 596     setupStats();
 597
 598     // and
 599     // using metric unit system
 600     osdConfigMutable()->units = UNIT_METRIC;
 601
 602     // when
 603     // the craft is armed
 604     doTestArm();
 605
 606     // and
 607     simulateFlight();
 608
 609     // and
 610     // the craft is disarmed
 611     doTestDisarm();
 612
 613     // then
 614     // statistics screen should display the following
 615     int row = 5;
 616     displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE      : 2.0%c", SYM_M);
 617     displayPortTestBufferSubstring(2, row++, "MAX SPEED         : 28");
 618     displayPortTestBufferSubstring(2, row++, "MAX DISTANCE      : 1.15%c", SYM_KM);
 619     displayPortTestBufferSubstring(2, row++, "FLIGHT DISTANCE   : 10.5%c", SYM_KM);
 620     displayPortTestBufferSubstring(2, row++, "MIN BATTERY       : 14.70%c", SYM_VOLT);
 621     displayPortTestBufferSubstring(2, row++, "END BATTERY       : 15.20%c", SYM_VOLT);
 622     displayPortTestBufferSubstring(2, row++, "MIN RSSI          : 25%%");
 623 }
 624
 625 /*
 626  * Tests activation of alarms and element flashing.
 627  */
 628 TEST_F(OsdTest, TestAlarms)
 629 {
 630     // given
 631     sensorsSet(SENSOR_GPS);
 632
 633     // and
 634     // the following OSD elements are visible
 635     osdElementConfigMutable()->item_pos[OSD_RSSI_VALUE]              = OSD_POS(8, 1)  | OSD_PROFILE_1_FLAG;
 636     osdElementConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE]       = OSD_POS(12, 1) | OSD_PROFILE_1_FLAG;
 637     osdElementConfigMutable()->item_pos[OSD_ITEM_TIMER_1]            = OSD_POS(20, 1) | OSD_PROFILE_1_FLAG;
 638     osdElementConfigMutable()->item_pos[OSD_ITEM_TIMER_2]            = OSD_POS(1, 1)  | OSD_PROFILE_1_FLAG;
 639     osdElementConfigMutable()->item_pos[OSD_REMAINING_TIME_ESTIMATE] = OSD_POS(1, 2)  | OSD_PROFILE_1_FLAG;
 640     osdElementConfigMutable()->item_pos[OSD_ALTITUDE]                = OSD_POS(23, 7) | OSD_PROFILE_1_FLAG;
 641
 642     // and
 643     // this set of alarm values
 644     osdConfigMutable()->rssi_alarm = 20;
 645     osdConfigMutable()->cap_alarm  = 2200;
 646     osdConfigMutable()->alt_alarm  = 100; // meters
 647
 648     osdAnalyzeActiveElements();
 649
 650     // and
 651     // this timer 1 configuration
 652     osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_ON, OSD_TIMER_PREC_HUNDREDTHS, 5);
 653     EXPECT_EQ(OSD_TIMER_SRC_ON, OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1]));
 654     EXPECT_EQ(OSD_TIMER_PREC_HUNDREDTHS, OSD_TIMER_PRECISION(osdConfig()->timers[OSD_TIMER_1]));
 655     EXPECT_EQ(5, OSD_TIMER_ALARM(osdConfig()->timers[OSD_TIMER_1]));
 656
 657     // and
 658     // this timer 2 configuration
 659     osdConfigMutable()->timers[OSD_TIMER_2] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_SECOND, 2);
 660     EXPECT_EQ(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_2]));
 661     EXPECT_EQ(OSD_TIMER_PREC_SECOND, OSD_TIMER_PRECISION(osdConfig()->timers[OSD_TIMER_2]));
 662     EXPECT_EQ(2, OSD_TIMER_ALARM(osdConfig()->timers[OSD_TIMER_2]));
 663
 664     // and
 665     // using the metric unit system
 666     osdConfigMutable()->units = UNIT_METRIC;
 667
 668     // when
 669     // time is passing by
 670     simulationTime += 60e6;
 671     osdRefresh();
 672
 673     // and
 674     // the craft is armed
 675     doTestArm(false);
 676
 677     simulationTime += 70e6;
 678     osdRefresh();
 679
 680     // then
 681     // no elements should flash as all values are out of alarm range
 682     for (int i = 0; i < 30; i++) {
 683         // Check for visibility every 100ms, elements should always be visible
 684         simulationTime += 0.1e6;
 685         osdRefresh();
 686
 687 #ifdef DEBUG_OSD
 688         printf("%d\n", i);
 689 #endif
 690         displayPortTestBufferSubstring(1,  1, "%c01:", SYM_FLY_M); // only test the minute part of the timer
 691         displayPortTestBufferSubstring(8,  1, "%c99", SYM_RSSI);
 692         displayPortTestBufferSubstring(12, 1, "%c16.8%c", SYM_BATT_FULL, SYM_VOLT);
 693         displayPortTestBufferSubstring(20, 1, "%c04:", SYM_ON_M); // only test the minute part of the timer
 694         displayPortTestBufferSubstring(23, 7, "%c0.0%c", SYM_ALTITUDE, SYM_M);
 695     }
 696
 697     // when
 698     // all values are out of range
 699     rssi = 128;
 700     simulationBatteryState = BATTERY_CRITICAL;
 701     simulationBatteryVoltage = 1350;
 702     simulationAltitude = 12000;
 703     simulationMahDrawn = 999999;
 704
 705     simulationTime += 60e6;
 706     osdRefresh();
 707
 708     // then
 709     // elements showing values in alarm range should flash
 710     simulationTime += 1000000;
 711     simulationTime -= simulationTime % 1000000;
 712     timeUs_t startTime = simulationTime;
 713     for (int i = 0; i < 15; i++) {
 714         // Blinking should happen at 2Hz
 715         simulationTime = startTime + i*0.25e6;
 716         osdRefresh();
 717
 718 #ifdef DEBUG_OSD
 719         printf("%d\n", i);
 720         displayPortTestPrint();
 721 #endif
 722         if (i % 2 == 1) {
 723             displayPortTestBufferSubstring(8,  1, "%c12", SYM_RSSI);
 724             displayPortTestBufferSubstring(12, 1, "%c13.5%c", SYM_MAIN_BATT, SYM_VOLT);
 725             displayPortTestBufferSubstring(1,  1, "%c02:", SYM_FLY_M); // only test the minute part of the timer
 726             displayPortTestBufferSubstring(20, 1, "%c05:", SYM_ON_M); // only test the minute part of the timer
 727             displayPortTestBufferSubstring(23, 7, "%c120.0%c", SYM_ALTITUDE, SYM_M);
 728         } else {
 729             displayPortTestBufferIsEmpty();
 730         }
 731     }
 732 }
 733
 734 /*
 735  * Tests the RSSI OSD element.
 736  */
 737 TEST_F(OsdTest, TestElementRssi)
 738 {
 739     // given
 740     osdElementConfigMutable()->item_pos[OSD_RSSI_VALUE] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
 741     osdConfigMutable()->rssi_alarm = 0;
 742
 743     osdAnalyzeActiveElements();
 744
 745     // when
 746     rssi = 1024;
 747     displayClearScreen(&testDisplayPort);
 748     osdRefresh();
 749
 750     // then
 751     displayPortTestBufferSubstring(8, 1, "%c99", SYM_RSSI);
 752
 753     // when
 754     rssi = 0;
 755     displayClearScreen(&testDisplayPort);
 756     osdRefresh();
 757
 758     // then
 759     displayPortTestBufferSubstring(8, 1, "%c 0", SYM_RSSI);
 760
 761     // when
 762     rssi = 512;
 763     displayClearScreen(&testDisplayPort);
 764     osdRefresh();
 765
 766     // then
 767     displayPortTestBufferSubstring(8, 1, "%c50", SYM_RSSI);
 768 }
 769
 770 /*
 771  * Tests the instantaneous battery current OSD element.
 772  */
 773 TEST_F(OsdTest, TestElementAmperage)
 774 {
 775     // given
 776     osdElementConfigMutable()->item_pos[OSD_CURRENT_DRAW] = OSD_POS(1, 12) | OSD_PROFILE_1_FLAG;
 777
 778     osdAnalyzeActiveElements();
 779
 780     // when
 781     simulationBatteryAmperage = 0;
 782     displayClearScreen(&testDisplayPort);
 783     osdRefresh();
 784
 785     // then
 786     displayPortTestBufferSubstring(1, 12, "  0.00%c", SYM_AMP);
 787
 788     // when
 789     simulationBatteryAmperage = 2156;
 790     displayClearScreen(&testDisplayPort);
 791     osdRefresh();
 792
 793     // then
 794     displayPortTestBufferSubstring(1, 12, " 21.56%c", SYM_AMP);
 795
 796     // when
 797     simulationBatteryAmperage = 12345;
 798     displayClearScreen(&testDisplayPort);
 799     osdRefresh();
 800
 801     // then
 802     displayPortTestBufferSubstring(1, 12, "123.45%c", SYM_AMP);
 803 }
 804
 805 /*
 806  * Tests the battery capacity drawn OSD element.
 807  */
 808 TEST_F(OsdTest, TestElementMahDrawn)
 809 {
 810     // given
 811     osdElementConfigMutable()->item_pos[OSD_MAH_DRAWN] = OSD_POS(1, 11) | OSD_PROFILE_1_FLAG;
 812
 813     osdAnalyzeActiveElements();
 814
 815     // when
 816     simulationMahDrawn = 0;
 817     displayClearScreen(&testDisplayPort);
 818     osdRefresh();
 819
 820     // then
 821     displayPortTestBufferSubstring(1, 11, "   0%c", SYM_MAH);
 822
 823     // when
 824     simulationMahDrawn = 4;
 825     displayClearScreen(&testDisplayPort);
 826     osdRefresh();
 827
 828     // then
 829     displayPortTestBufferSubstring(1, 11, "   4%c", SYM_MAH);
 830
 831     // when
 832     simulationMahDrawn = 15;
 833     displayClearScreen(&testDisplayPort);
 834     osdRefresh();
 835
 836     // then
 837     displayPortTestBufferSubstring(1, 11, "  15%c", SYM_MAH);
 838
 839     // when
 840     simulationMahDrawn = 246;
 841     displayClearScreen(&testDisplayPort);
 842     osdRefresh();
 843
 844     // then
 845     displayPortTestBufferSubstring(1, 11, " 246%c", SYM_MAH);
 846
 847     // when
 848     simulationMahDrawn = 1042;
 849     displayClearScreen(&testDisplayPort);
 850     osdRefresh();
 851
 852     // then
 853     displayPortTestBufferSubstring(1, 11, "1042%c", SYM_MAH);
 854 }
 855
 856 /*
 857  * Tests the instantaneous electrical power OSD element.
 858  */
 859 TEST_F(OsdTest, TestElementPower)
 860 {
 861     // given
 862     osdElementConfigMutable()->item_pos[OSD_POWER] = OSD_POS(1, 10)  | OSD_PROFILE_1_FLAG;
 863
 864     osdAnalyzeActiveElements();
 865
 866     // and
 867     simulationBatteryVoltage = 1000; // 10V
 868
 869     // and
 870     simulationBatteryAmperage = 0; // 0A
 871
 872     // when
 873     displayClearScreen(&testDisplayPort);
 874     osdRefresh();
 875
 876     // then
 877     displayPortTestBufferSubstring(1, 10, "   0W");
 878
 879     // given
 880     simulationBatteryAmperage = 10; // 0.1A
 881
 882     // when
 883     displayClearScreen(&testDisplayPort);
 884     osdRefresh();
 885
 886     // then
 887     displayPortTestBufferSubstring(1, 10, "   1W");
 888
 889     // given
 890     simulationBatteryAmperage = 120; // 1.2A
 891
 892     // when
 893     displayClearScreen(&testDisplayPort);
 894     osdRefresh();
 895
 896     // then
 897     displayPortTestBufferSubstring(1, 10, "  12W");
 898
 899     // given
 900     simulationBatteryAmperage = 1230; // 12.3A
 901
 902     // when
 903     displayClearScreen(&testDisplayPort);
 904     osdRefresh();
 905
 906     // then
 907     displayPortTestBufferSubstring(1, 10, " 123W");
 908
 909     // given
 910     simulationBatteryAmperage = 12340; // 123.4A
 911
 912     // when
 913     displayClearScreen(&testDisplayPort);
 914     osdRefresh();
 915
 916     // then
 917     displayPortTestBufferSubstring(1, 10, "1234W");
 918 }
 919
 920 /*
 921  * Tests the altitude OSD element.
 922  */
 923 TEST_F(OsdTest, TestElementAltitude)
 924 {
 925     // given
 926     osdElementConfigMutable()->item_pos[OSD_ALTITUDE] = OSD_POS(23, 7) | OSD_PROFILE_1_FLAG;
 927
 928     osdAnalyzeActiveElements();
 929
 930     // and
 931     osdConfigMutable()->units = UNIT_METRIC;
 932     sensorsClear(SENSOR_GPS);
 933
 934     // when
 935     simulationAltitude = 0;
 936     displayClearScreen(&testDisplayPort);
 937     osdRefresh();
 938
 939     // then
 940     displayPortTestBufferSubstring(23, 7, "%c-", SYM_ALTITUDE);
 941
 942     // when
 943     sensorsSet(SENSOR_GPS);
 944     displayClearScreen(&testDisplayPort);
 945     osdRefresh();
 946
 947     // then
 948     displayPortTestBufferSubstring(23, 7, "%c0.0%c", SYM_ALTITUDE, SYM_M);
 949
 950     // when
 951     simulationAltitude = 247;  // rounds to 2.5m
 952     displayClearScreen(&testDisplayPort);
 953     osdRefresh();
 954
 955     // then
 956     displayPortTestBufferSubstring(23, 7, "%c2.5%c", SYM_ALTITUDE, SYM_M);
 957
 958     // when
 959     simulationAltitude = 4247;  // rounds to 42.5m
 960     displayClearScreen(&testDisplayPort);
 961     osdRefresh();
 962
 963     // then
 964     displayPortTestBufferSubstring(23, 7, "%c42.5%c", SYM_ALTITUDE, SYM_M);
 965
 966     // when
 967     simulationAltitude = -247;  // rounds to -2.5m
 968     displayClearScreen(&testDisplayPort);
 969     osdRefresh();
 970
 971     // then
 972     displayPortTestBufferSubstring(23, 7, "%c-2.5%c", SYM_ALTITUDE, SYM_M);
 973
 974     // when
 975     simulationAltitude = -70;
 976     displayClearScreen(&testDisplayPort);
 977     osdRefresh();
 978
 979     // then
 980     displayPortTestBufferSubstring(23, 7, "%c-0.7%c", SYM_ALTITUDE, SYM_M);
 981
 982 }
 983
 984 /*
 985  * Tests the core temperature OSD element.
 986  */
 987 TEST_F(OsdTest, TestElementCoreTemperature)
 988 {
 989     // given
 990     osdElementConfigMutable()->item_pos[OSD_CORE_TEMPERATURE] = OSD_POS(1, 8) | OSD_PROFILE_1_FLAG;
 991
 992     osdAnalyzeActiveElements();
 993
 994     // and
 995     osdConfigMutable()->units = UNIT_METRIC;
 996
 997     // and
 998     simulationCoreTemperature = 0;
 999
1000     // when
1001     displayClearScreen(&testDisplayPort);
1002     osdRefresh();
1003
1004     // then
1005     displayPortTestBufferSubstring(1, 8, "C%c  0%c", SYM_TEMPERATURE, SYM_C);
1006
1007     // given
1008     simulationCoreTemperature = 33;
1009
1010     // when
1011     displayClearScreen(&testDisplayPort);
1012     osdRefresh();
1013
1014     // then
1015     displayPortTestBufferSubstring(1, 8, "C%c 33%c", SYM_TEMPERATURE, SYM_C);
1016
1017     // given
1018     osdConfigMutable()->units = UNIT_IMPERIAL;
1019
1020     // when
1021     displayClearScreen(&testDisplayPort);
1022     osdRefresh();
1023
1024     // then
1025     displayPortTestBufferSubstring(1, 8, "C%c 91%c", SYM_TEMPERATURE, SYM_F);
1026 }
1027
1028 /*
1029  * Tests the battery notifications shown on the warnings OSD element.
1030  */
1031 TEST_F(OsdTest, TestElementWarningsBattery)
1032 {
1033     // given
1034     osdElementConfigMutable()->item_pos[OSD_WARNINGS] = OSD_POS(9, 10) | OSD_PROFILE_1_FLAG;
1035     osdConfigMutable()->enabledWarnings = 0;  // disable all warnings
1036     osdWarnSetState(OSD_WARNING_BATTERY_WARNING, true);
1037     osdWarnSetState(OSD_WARNING_BATTERY_CRITICAL, true);
1038     osdWarnSetState(OSD_WARNING_BATTERY_NOT_FULL, true);
1039
1040     osdAnalyzeActiveElements();
1041
1042     // and
1043     batteryConfigMutable()->vbatfullcellvoltage = 410;
1044
1045     // and
1046     // 4S battery
1047     simulationBatteryCellCount = 4;
1048
1049     // and
1050     // used battery
1051     simulationBatteryVoltage = ((batteryConfig()->vbatmaxcellvoltage - 20) * simulationBatteryCellCount) - 1;
1052     simulationBatteryState = BATTERY_OK;
1053
1054     // when
1055     displayClearScreen(&testDisplayPort);
1056     // Delay as the warnings are flashing
1057     simulationTime += 1000000;
1058     simulationTime -= simulationTime % 1000000;
1059     osdRefresh();
1060
1061     // then
1062     displayPortTestBufferSubstring(9, 10, "BATT < FULL");
1063
1064     // given
1065     // full battery
1066     simulationBatteryVoltage = 1680;
1067     simulationBatteryState = BATTERY_OK;
1068
1069     // when
1070     displayClearScreen(&testDisplayPort);
1071     osdRefresh();
1072
1073     // then
1074     displayPortTestBufferSubstring(9, 10, "           ");
1075
1076     // given
1077     // low battery
1078     simulationBatteryVoltage = 1400;
1079     simulationBatteryState = BATTERY_WARNING;
1080
1081     // when
1082     displayClearScreen(&testDisplayPort);
1083     // Delay as the warnings are flashing
1084     simulationTime += 1000000;
1085     simulationTime -= simulationTime % 1000000;
1086     simulationTime += 0.25e6;
1087     osdRefresh();
1088
1089     // then
1090     displayPortTestBufferSubstring(9, 10, "LOW BATTERY ");
1091
1092     // given
1093     // critical battery
1094     simulationBatteryVoltage = 1320;
1095     simulationBatteryState = BATTERY_CRITICAL;
1096
1097     // when
1098     displayClearScreen(&testDisplayPort);
1099     // Delay as the warnings are flashing
1100     simulationTime += 1000000;
1101     simulationTime -= simulationTime % 1000000;
1102     simulationTime += 0.25e6;
1103     osdRefresh();
1104
1105     // then
1106     displayPortTestBufferSubstring(9, 10, " LAND NOW   ");
1107
1108     // given
1109     // full battery
1110     simulationBatteryVoltage = ((batteryConfig()->vbatmaxcellvoltage - 20) * simulationBatteryCellCount);
1111     simulationBatteryState = BATTERY_OK;
1112
1113     // when
1114     displayClearScreen(&testDisplayPort);
1115     osdRefresh();
1116
1117     // then
1118     displayPortTestBufferSubstring(9, 10, "             ");
1119
1120     // TODO
1121 }
1122
1123 /*
1124  * Tests the time string formatting function with a series of precision settings and time values.
1125  */
1126 TEST_F(OsdTest, TestFormatTimeString)
1127 {
1128     char buff[OSD_ELEMENT_BUFFER_LENGTH];
1129
1130     /* Seconds precision, 0 us */
1131     osdFormatTime(buff, OSD_TIMER_PREC_SECOND, 0);
1132     EXPECT_EQ(0, strcmp("00:00", buff));
1133
1134     /* Seconds precision, 0.9 seconds */
1135     osdFormatTime(buff, OSD_TIMER_PREC_SECOND, 0.9e6);
1136     EXPECT_EQ(0, strcmp("00:00", buff));
1137
1138     /* Seconds precision, 10 seconds */
1139     osdFormatTime(buff, OSD_TIMER_PREC_SECOND, 10e6);
1140     EXPECT_EQ(0, strcmp("00:10", buff));
1141
1142     /* Seconds precision, 1 minute */
1143     osdFormatTime(buff, OSD_TIMER_PREC_SECOND, 60e6);
1144     EXPECT_EQ(0, strcmp("01:00", buff));
1145
1146     /* Seconds precision, 1 minute 59 seconds */
1147     osdFormatTime(buff, OSD_TIMER_PREC_SECOND, 119e6);
1148     EXPECT_EQ(0, strcmp("01:59", buff));
1149
1150     /* Hundredths precision, 0 us */
1151     osdFormatTime(buff, OSD_TIMER_PREC_HUNDREDTHS, 0);
1152     EXPECT_EQ(0, strcmp("00:00.00", buff));
1153
1154     /* Hundredths precision, 10 milliseconds (one 100th of a second) */
1155     osdFormatTime(buff, OSD_TIMER_PREC_HUNDREDTHS, 10e3);
1156     EXPECT_EQ(0, strcmp("00:00.01", buff));
1157
1158     /* Hundredths precision, 0.9 seconds */
1159     osdFormatTime(buff, OSD_TIMER_PREC_HUNDREDTHS, 0.9e6);
1160     EXPECT_EQ(0, strcmp("00:00.90", buff));
1161
1162     /* Hundredths precision, 10 seconds */
1163     osdFormatTime(buff, OSD_TIMER_PREC_HUNDREDTHS, 10e6);
1164     EXPECT_EQ(0, strcmp("00:10.00", buff));
1165
1166     /* Hundredths precision, 1 minute */
1167     osdFormatTime(buff, OSD_TIMER_PREC_HUNDREDTHS, 60e6);
1168     EXPECT_EQ(0, strcmp("01:00.00", buff));
1169
1170     /* Hundredths precision, 1 minute 59 seconds */
1171     osdFormatTime(buff, OSD_TIMER_PREC_HUNDREDTHS, 119e6);
1172     EXPECT_EQ(0, strcmp("01:59.00", buff));
1173 }
1174
1175 TEST_F(OsdTest, TestConvertTemperatureUnits)
1176 {
1177     /* In Celsius */
1178     osdConfigMutable()->units = UNIT_METRIC;
1179     EXPECT_EQ(osdConvertTemperatureToSelectedUnit(40), 40);
1180
1181     /* In Fahrenheit */
1182     osdConfigMutable()->units = UNIT_IMPERIAL;
1183     EXPECT_EQ(osdConvertTemperatureToSelectedUnit(40), 104);
1184
1185     /* In Fahrenheit with rounding */
1186     osdConfigMutable()->units = UNIT_IMPERIAL;
1187     EXPECT_EQ(osdConvertTemperatureToSelectedUnit(41), 106);
1188 }
1189
1190 TEST_F(OsdTest, TestGpsElements)
1191 {
1192     // given
1193     osdElementConfigMutable()->item_pos[OSD_GPS_SATS] = OSD_POS(2, 4) | OSD_PROFILE_1_FLAG;
1194
1195     sensorsSet(SENSOR_GPS);
1196     osdAnalyzeActiveElements();
1197
1198     // when
1199     simulationGpsHealthy = false;
1200     gpsSol.numSat = 0;
1201
1202     displayClearScreen(&testDisplayPort);
1203     osdRefresh();
1204
1205     // then
1206     // Sat indicator should blink and show "NC"
1207     simulationTime += 1000000;
1208     simulationTime -= simulationTime % 1000000;
1209     timeUs_t startTime = simulationTime;
1210     for (int i = 0; i < 15; i++) {
1211         // Blinking should happen at 2Hz
1212         simulationTime = startTime + i*0.25e6;
1213         osdRefresh();
1214
1215         if (i % 2 == 1) {
1216             displayPortTestBufferSubstring(2, 4, "%c%cNC", SYM_SAT_L, SYM_SAT_R);
1217         } else {
1218             displayPortTestBufferIsEmpty();
1219         }
1220     }
1221
1222     // when
1223     simulationGpsHealthy = true;
1224     gpsSol.numSat = 0;
1225
1226     displayClearScreen(&testDisplayPort);
1227     osdRefresh();
1228
1229     // then
1230     // Sat indicator should blink and show "0"
1231     simulationTime += 1000000;
1232     simulationTime -= simulationTime % 1000000;
1233     startTime = simulationTime;
1234     for (int i = 0; i < 15; i++) {
1235         // Blinking should happen at 2Hz
1236         simulationTime = startTime + i*0.25e6;
1237         osdRefresh();
1238
1239         if (i % 2 == 1) {
1240             displayPortTestBufferSubstring(2, 4, "%c%c 0", SYM_SAT_L, SYM_SAT_R);
1241         } else {
1242             displayPortTestBufferIsEmpty();
1243         }
1244     }
1245
1246     // when
1247     simulationGpsHealthy = true;
1248     gpsSol.numSat = 10;
1249
1250     displayClearScreen(&testDisplayPort);
1251     osdRefresh();
1252
1253     // then
1254     // Sat indicator should show "10" without flashing
1255     for (int i = 0; i < 15; i++) {
1256         // Blinking should happen at 2Hz
1257         simulationTime += 0.2e6;
1258         osdRefresh();
1259
1260         displayPortTestBufferSubstring(2, 4, "%c%c10", SYM_SAT_L, SYM_SAT_R);
1261     }
1262 }
1263
1264 // STUBS
1265 extern "C" {
1266     bool featureIsEnabled(uint32_t f) { return simulationFeatureFlags & f; }
1267
1268     void beeperConfirmationBeeps(uint8_t) {}
1269
1270     bool isModeActivationConditionPresent(boxId_e) {
1271         return false;
1272     }
1273
1274     bool IS_RC_MODE_ACTIVE(boxId_e) {
1275         return false;
1276     }
1277
1278     uint32_t micros() {
1279         return simulationTime;
1280     }
1281
1282     uint32_t millis() {
1283         return micros() / 1000;
1284     }
1285
1286     bool isBeeperOn() {
1287         return false;
1288     }
1289
1290     bool airmodeIsEnabled() {
1291         return false;
1292     }
1293
1294     uint8_t getCurrentPidProfileIndex() {
1295         return 0;
1296     }
1297
1298     uint8_t getCurrentControlRateProfileIndex() {
1299         return 0;
1300     }
1301
1302     batteryState_e getBatteryState() {
1303         return simulationBatteryState;
1304     }
1305
1306     uint8_t getBatteryCellCount() {
1307         return simulationBatteryCellCount;
1308     }
1309
1310     uint16_t getBatteryVoltage() {
1311         return simulationBatteryVoltage;
1312     }
1313
1314     uint16_t getBatteryAverageCellVoltage() {
1315         return simulationBatteryVoltage / simulationBatteryCellCount;
1316     }
1317
1318     int32_t getAmperage() {
1319         return simulationBatteryAmperage;
1320     }
1321
1322     int32_t getMAhDrawn() {
1323         return simulationMahDrawn;
1324     }
1325
1326     int32_t getEstimatedAltitudeCm() {
1327         return simulationAltitude;
1328     }
1329
1330     int32_t getEstimatedVario() {
1331         return simulationVerticalSpeed;
1332     }
1333
1334     int32_t blackboxGetLogNumber() {
1335         return 0;
1336     }
1337
1338     bool isBlackboxDeviceWorking() {
1339         return true;
1340     }
1341
1342     bool isBlackboxDeviceFull() {
1343         return false;
1344     }
1345
1346     bool isSerialTransmitBufferEmpty(const serialPort_t *) {
1347         return false;
1348     }
1349
1350     void serialWrite(serialPort_t *, uint8_t) {}
1351
1352     bool cmsDisplayPortRegister(displayPort_t *) {
1353         return false;
1354     }
1355
1356     uint16_t getRssi(void) { return rssi; }
1357
1358     uint8_t getRssiPercent(void) { return scaleRange(rssi, 0, RSSI_MAX_VALUE, 0, 100); }
1359
1360     uint16_t rxGetLinkQuality(void) { return LINK_QUALITY_MAX_VALUE; }
1361
1362     uint16_t getCoreTemperatureCelsius(void) { return simulationCoreTemperature; }
1363
1364     bool isFlipOverAfterCrashActive(void) { return false; }
1365
1366     float pidItermAccelerator(void) { return 1.0; }
1367     uint8_t getMotorCount(void){ return 4; }
1368     bool areMotorsRunning(void){ return true; }
1369     bool pidOsdAntiGravityActive(void) { return false; }
1370     bool failsafeIsActive(void) { return false; }
1371     bool gpsRescueIsConfigured(void) { return false; }
1372     bool gpsIsHealthy(void) { return simulationGpsHealthy; }
1373     int8_t calculateThrottlePercent(void) { return 0; }
1374     uint32_t persistentObjectRead(persistentObjectId_e) { return 0; }
1375     void persistentObjectWrite(persistentObjectId_e, uint32_t) {}
1376     bool isUpright(void) { return true; }
1377     float getMotorOutputLow(void) { return 1000.0; }
1378     float getMotorOutputHigh(void) { return 2047.0; }
1379     void schedulerIgnoreTaskStateTime(void) { }
1380     void schedulerIgnoreTaskExecRate(void) { }
1381     void schedulerIgnoreTaskExecTime(void) { }
1382     void schedulerSetNextStateTime(timeDelta_t) {}
1383 }