RadioConfigTest.cc 32 KB
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/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
 QGROUNDCONTROL is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 QGROUNDCONTROL 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.
 
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/

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#include "RadioConfigTest.h"
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#include "RadioComponentController.h"
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#include "MultiVehicleManager.h"
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#include "QGCApplication.h"
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/// @file
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///     @brief QRadioComponentController Widget unit test
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///
///     @author Don Gagne <don@thegagnes.com>

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QGC_LOGGING_CATEGORY(RadioConfigTestLog, "RadioConfigTestLog")
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// This will check for the wizard buttons being enabled of disabled according to the mask you pass in.
// We use a macro instead of a method so that we get better line number reporting on failure.
#define CHK_BUTTONS(mask) \
{ \
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    if (_controller->_nextButton->isEnabled() != !!((mask) & nextButtonMask) || \
        _controller->_skipButton->isEnabled() != !!((mask) & skipButtonMask) || \
        _controller->_cancelButton->isEnabled() != !!((mask) & cancelButtonMask) ) { \
        qCDebug(RadioConfigTestLog) << _controller->_statusText->property("text"); \
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    } \
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    QCOMPARE(_controller->_nextButton->isEnabled(), !!((mask) & nextButtonMask)); \
    QCOMPARE(_controller->_skipButton->isEnabled(), !!((mask) & skipButtonMask)); \
    QCOMPARE(_controller->_cancelButton->isEnabled(), !!((mask) & cancelButtonMask)); \
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}

// This allows you to write unit tests which will click the Cancel button the first time through, followed
// by the Next button on the second iteration.
#define NEXT_OR_CANCEL(cancelNum) \
{ \
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    if (mode == testModeStandalone && tryCancel ## cancelNum) { \
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        QTest::mouseClick(_cancelButton, Qt::LeftButton); \
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        QCOMPARE(_controller->_rcCalState, RadioComponentController::rcCalStateChannelWait); \
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        tryCancel ## cancelNum = false; \
        goto StartOver; \
    } else { \
        QTest::mouseClick(_nextButton, Qt::LeftButton); \
    } \
}

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const int RadioConfigTest::_stickSettleWait = RadioComponentController::_stickDetectSettleMSecs * 1.5;
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const int RadioConfigTest::_testMinValue = RadioComponentController::_rcCalPWMDefaultMinValue + 10;
const int RadioConfigTest::_testMaxValue = RadioComponentController::_rcCalPWMDefaultMaxValue - 10;
const int RadioConfigTest::_testCenterValue = RadioConfigTest::_testMinValue + ((RadioConfigTest::_testMaxValue - RadioConfigTest::_testMinValue) / 2);
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const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsPX4[RadioComponentController::_chanMaxPX4] = {
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	// Function										Min                 Max                 #  Reversed
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	// Channel 0 : Not mapped to function, Simulate invalid Min/Max
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	{ RadioComponentController::rcCalFunctionMax,			_testCenterValue,	_testCenterValue,   0, false },
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    // Channels 1-4: Mapped to attitude control function
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    { RadioComponentController::rcCalFunctionRoll,			_testMinValue,      _testMaxValue,      0, true },
    { RadioComponentController::rcCalFunctionPitch,			_testMinValue,      _testMaxValue,      0, false },
    { RadioComponentController::rcCalFunctionYaw,			_testMinValue,      _testMaxValue,      0, true },
    { RadioComponentController::rcCalFunctionThrottle,		_testMinValue,      _testMaxValue,      0,  false },
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    // Channels 5-8: Not mapped to function, Simulate invalid Min/Max, since available channel Min/Max is still shown.
    // These are here to skip over the flight mode functions
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    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
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    // Channels 9-11: Remainder of non-flight mode switches
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    { RadioComponentController::rcCalFunctionFlaps,			_testMinValue,      _testMaxValue,      0, false },
    { RadioComponentController::rcCalFunctionAux1,			_testMinValue,      _testMaxValue,      0, false },
    { RadioComponentController::rcCalFunctionAux2,			_testMinValue,      _testMaxValue,      0, false },
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    // Channel 12 : Not mapped to function, Simulate invalid Min, valid Max
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    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,	_testMaxValue,      0,  false },
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	// Channel 13 : Not mapped to function, Simulate valid Min, invalid Max
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	{ RadioComponentController::rcCalFunctionMax,           _testMinValue,      _testCenterValue,   0,	false },
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    // Channels 14-17: Not mapped to function, Simulate invalid Min/Max, since available channel Min/Max is still shown
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    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
	{ RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
	{ RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
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};

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// Note the: 1500/*RadioComponentController::_rcCalPWMCenterPoint*/ entries. For some reason I couldn't get the compiler to do the
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// right thing with the constant. So I just hacked inthe real value instead of fighting with it any longer.
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const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsValidatePX4[RadioComponentController::_chanMaxPX4] = {
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    // Function										Min Value									Max Value									Trim Value										Reversed
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    // Channels 0: not mapped and should be set to defaults
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	{ RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
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    // Channels 1-4: Mapped to attitude control function
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	{ RadioComponentController::rcCalFunctionRoll,			_testMinValue,                              _testMaxValue,                              _testCenterValue,                               true },
    { RadioComponentController::rcCalFunctionPitch,			_testMinValue,                              _testMaxValue,                              _testCenterValue,                               false },
    { RadioComponentController::rcCalFunctionYaw,			_testMinValue,                              _testMaxValue,                              _testCenterValue,                               true },
    { RadioComponentController::rcCalFunctionThrottle,		_testMinValue,                              _testMaxValue,                              _testMinValue,                                  false },
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    // Channels 5-8: not mapped and should be set to defaults
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    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
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    // Channels 9-11: Remainder of non-flight mode switches
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    { RadioComponentController::rcCalFunctionFlaps,			_testMinValue,                              _testMaxValue,                              _testCenterValue,                               false },
    { RadioComponentController::rcCalFunctionAux1,			_testMinValue,                              _testMaxValue,                              _testCenterValue,                               false },
    { RadioComponentController::rcCalFunctionAux2,			_testMinValue,                              _testMaxValue,                              _testCenterValue,                               false },
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	// Channels 12-17 are not mapped and should be set to defaults
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	{ RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
	{ RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
	{ RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
	{ RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
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};

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const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsAPM[RadioComponentController::_chanMaxAPM] = {
    // Function										Min                 Max                 #  Reversed

    // Channel 0 : Not mapped to function, Simulate invalid Min/Max
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,	_testCenterValue,   0, false },

    // Channels 1-4: Mapped to attitude control function
    { RadioComponentController::rcCalFunctionRoll,			_testMinValue,      _testMaxValue,      0, true },
    { RadioComponentController::rcCalFunctionPitch,			_testMinValue,      _testMaxValue,      0, false },
    { RadioComponentController::rcCalFunctionYaw,			_testMinValue,      _testMaxValue,      0, true },
    { RadioComponentController::rcCalFunctionThrottle,		_testMinValue,      _testMaxValue,      0,  false },

    // Channels 5-11: Not mapped to function, Simulate invalid Min/Max, since available channel Min/Max is still shown.
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },

    // Channel 12 : Not mapped to function, Simulate invalid Min, valid Max
    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,	_testMaxValue,      0,  false },

    // Channel 13 : Not mapped to function, Simulate valid Min, invalid Max
    { RadioComponentController::rcCalFunctionMax,           _testMinValue,      _testCenterValue,   0,	false },
};

// Note the: 1500/*RadioComponentController::_rcCalPWMCenterPoint*/ entries. For some reason I couldn't get the compiler to do the
// right thing with the constant. So I just hacked inthe real value instead of fighting with it any longer.
const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsValidateAPM[RadioComponentController::_chanMaxAPM] = {
    // Function										Min Value									Max Value									Trim Value										Reversed

    // Channels 0: not mapped and should be set to defaults
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },

    // Channels 1-4: Mapped to attitude control function
    { RadioComponentController::rcCalFunctionRoll,			_testMinValue, _testMaxValue, _testCenterValue, true },
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    { RadioComponentController::rcCalFunctionPitch,			_testMinValue, _testMaxValue, _testCenterValue, true },
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    { RadioComponentController::rcCalFunctionYaw,			_testMinValue, _testMaxValue, _testCenterValue, true },
    { RadioComponentController::rcCalFunctionThrottle,		_testMinValue, _testMaxValue, _testMinValue,    false },

    // Channels 5-11: not mapped and should be set to defaults
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },

    // Channels 12-13 are not mapped and should be set to defaults
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
};

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RadioConfigTest::RadioConfigTest(void) :
    _calWidget(NULL),
    _controller(NULL)
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{
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}

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void RadioConfigTest::_init(MAV_AUTOPILOT firmwareType)
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{
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    _connectMockLink(firmwareType);
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    _autopilot = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->autopilotPlugin();
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    Q_ASSERT(_autopilot);
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    // This will instatiate the widget with an active uas with ready parameters
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    _calWidget = new QGCQmlWidgetHolder(QString(), NULL);
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    _calWidget->resize(600, 600);
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    Q_CHECK_PTR(_calWidget);
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    _calWidget->setAutoPilot(_autopilot);
    _calWidget->setSource(QUrl::fromUserInput("qrc:/qml/RadioComponent.qml"));
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    // Nasty hack to get to controller
    _controller = RadioComponentController::_unitTestController;
    Q_ASSERT(_controller);
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    _controller->_setUnitTestMode();
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    _rgSignals[0] = SIGNAL(nextButtonMessageBoxDisplayed());
    _multiSpyNextButtonMessageBox = new MultiSignalSpy();
    Q_CHECK_PTR(_multiSpyNextButtonMessageBox);
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    QCOMPARE(_multiSpyNextButtonMessageBox->init(_controller, _rgSignals, 1), true);
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    QCOMPARE(_controller->_currentStep, -1);
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}

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void RadioConfigTest::cleanup(void)
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{
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    Q_ASSERT(_calWidget);
    delete _calWidget;
    
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    // Disconnecting the link will prompt for log file save
    setExpectedFileDialog(getSaveFileName, QStringList());
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    UnitTest::cleanup();
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}

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void RadioConfigTest::_beginCalibration(void)
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{
    CHK_BUTTONS(nextButtonMask | cancelButtonMask);

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    // We should already have enough channels to proceed with calibration. Click next to start the process.
    
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    _controller->nextButtonClicked();
    QCOMPARE(_controller->_currentStep, 1);
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    CHK_BUTTONS(cancelButtonMask);
}

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void RadioConfigTest::_stickMoveWaitForSettle(int channel, int value)
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{
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    qCDebug(RadioConfigTestLog) << "_stickMoveWaitForSettle channel:value" << channel << value;
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    // Move the stick, this will initialized the settle checker
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    _mockLink->emitRemoteControlChannelRawChanged(channel, value);
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    // Emit the signal again to start the settle timer
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    _mockLink->emitRemoteControlChannelRawChanged(channel, value);
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    // Wait long enough for the settle timer to expire
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    QTest::qWait(RadioComponentController::_stickDetectSettleMSecs * 1.5);
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    // Emit the signal again so that we detect stick settle
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    _mockLink->emitRemoteControlChannelRawChanged(channel, value);
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}

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void RadioConfigTest::_stickMoveAutoStep(const char* functionStr, enum RadioComponentController::rcCalFunctions function, enum RadioConfigTest::MoveToDirection direction, bool identifyStep)
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{
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    Q_UNUSED(functionStr);
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    qCDebug(RadioConfigTestLog) << "_stickMoveAutoStep function:direction:reversed:identifyStep" << functionStr << function << direction << identifyStep;
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    CHK_BUTTONS(cancelButtonMask);
    
    int channel = _rgFunctionChannelMap[function];
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    int saveStep = _controller->_currentStep;
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    bool reversed = _channelSettings()[channel].reversed;
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    if (!identifyStep && direction != moveToCenter) {
        // We have already identified the function channel mapping. Move other channels around to make sure there is no impact.
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        int otherChannel = channel + 1;
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        if (otherChannel >= _chanMax()) {
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            otherChannel = 0;
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        }
        
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        _stickMoveWaitForSettle(otherChannel, _testMinValue);
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        QCOMPARE(_controller->_currentStep, saveStep);
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        CHK_BUTTONS(cancelButtonMask);
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        _stickMoveWaitForSettle(otherChannel, RadioComponentController::_rcCalPWMCenterPoint);
        QCOMPARE(_controller->_currentStep, saveStep);
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        CHK_BUTTONS(cancelButtonMask);
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    }
    
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    // Move channel to specified position to trigger next step
    
    int value;
    if (direction == moveToMin) {
        value = reversed ? _testMaxValue : _testMinValue;
    } else if (direction == moveToMax) {
        value = reversed ? _testMinValue : _testMaxValue;
    } else if (direction == moveToCenter) {
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        value = RadioComponentController::_rcCalPWMCenterPoint;
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    } else {
        Q_ASSERT(false);
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    }
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    _stickMoveWaitForSettle(channel, value);
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    QCOMPARE(_controller->_currentStep, saveStep + 1);
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}

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void RadioConfigTest::_switchMinMaxStep(void)
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{
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    CHK_BUTTONS(nextButtonMask | cancelButtonMask);
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    // Try setting a min/max value that is below the threshold to make sure min/max doesn't go valid
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    _mockLink->emitRemoteControlChannelRawChanged(0, (float)(RadioComponentController::_rcCalPWMValidMinValue + 1));
    _mockLink->emitRemoteControlChannelRawChanged(0, (float)(RadioComponentController::_rcCalPWMValidMaxValue - 1));
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    // Send min/max values switch channels
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    for (int chan=0; chan<_chanMax(); chan++) {
        _mockLink->emitRemoteControlChannelRawChanged(chan, _channelSettings()[chan].rcMin);
        _mockLink->emitRemoteControlChannelRawChanged(chan, _channelSettings()[chan].rcMax);
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    }
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    _channelHomePosition();
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    int saveStep = _controller->_currentStep;
    _controller->nextButtonClicked();
    QCOMPARE(_controller->_currentStep, saveStep + 1);
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}

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void RadioConfigTest::_flapsDetectStep(void)
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{
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    int channel = _rgFunctionChannelMap[RadioComponentController::rcCalFunctionFlaps];
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    qCDebug(RadioConfigTestLog) << "_flapsDetectStep channel" << channel;
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    // Test code can't handle reversed flaps channel
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    Q_ASSERT(!_channelSettings()[channel].reversed);
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    CHK_BUTTONS(nextButtonMask | cancelButtonMask | skipButtonMask);
    
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    int saveStep = _controller->_currentStep;
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    // Wiggle channel to identify
    _stickMoveWaitForSettle(channel, _testMaxValue);
    _stickMoveWaitForSettle(channel, _testMinValue);
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    // Leave channel on full flaps down
    _stickMoveWaitForSettle(channel, _testMaxValue);
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    // User has to hit next at this step
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    QCOMPARE(_controller->_currentStep, saveStep);
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    CHK_BUTTONS(nextButtonMask | cancelButtonMask | skipButtonMask);
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    _controller->nextButtonClicked();
    QCOMPARE(_controller->_currentStep, saveStep + 1);
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}

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void RadioConfigTest::_switchSelectAutoStep(const char* functionStr, RadioComponentController::rcCalFunctions function)
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{
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    Q_UNUSED(functionStr);
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    ////qCDebug(RadioConfigTestLog)() << "_switchSelectAutoStep" << functionStr << "function:" << function;
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    int buttonMask = cancelButtonMask;
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    if (function != RadioComponentController::rcCalFunctionModeSwitch) {
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        buttonMask |= skipButtonMask;
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    }
    
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    CHK_BUTTONS(buttonMask);
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    int saveStep = _controller->_currentStep;
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    // Wiggle stick for channel
    int channel = _rgFunctionChannelMap[function];
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    _mockLink->emitRemoteControlChannelRawChanged(channel, _testMinValue);
    _mockLink->emitRemoteControlChannelRawChanged(channel, _testMaxValue);
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    QCOMPARE(_controller->_currentStep, saveStep + 1);
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}

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void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
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{
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    _init(firmwareType);

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    // IMPORTANT NOTE: We used channels 1-5 for attitude mapping in the test below.
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    // MockLink.params file cannot have flight mode switches mapped to those channels.
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    // If it does it will cause errors since the stick will not be detetected where

    /// _rgFunctionChannelMap maps from function index to channel index. For channels which are not part of
    /// rc cal set the mapping the the previous mapping.
    
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    for (int function=0; function<RadioComponentController::rcCalFunctionMax; function++) {
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        bool found = false;
        
        // If we are mapping this function during cal set it into _rgFunctionChannelMap
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        for (int channel=0; channel<_chanMax(); channel++) {
            if (_channelSettings()[channel].function == function) {
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                if (_px4Vehicle()) {
                    // Make sure this function isn't being use for a switch
                    QStringList switchList;
                    switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";

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                    foreach (const QString &switchParam, switchList) {
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                        Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
                    }
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                }
                
                _rgFunctionChannelMap[function] = channel;
                found = true;
                
                break;
            }
        }
        
        // If we aren't mapping this function during calibration, set it to the previous setting
        if (!found) {
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            const char* paramName = _functionInfo()[function].parameterName;
            if (paramName) {
                _rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
                qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
                if (_rgFunctionChannelMap[function] == 0) {
                    _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
                } else {
                    _rgFunctionChannelMap[function]--;   // parameter is 1-based, _rgFunctionChannelMap is not
                }
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            } else {
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                _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
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            }
        }
    }
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    _channelHomePosition();
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    _controller->nextButtonClicked();
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    _beginCalibration();
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    _stickMoveAutoStep("Throttle", RadioComponentController::rcCalFunctionThrottle, moveToMax, true /* identify step */);
    _stickMoveAutoStep("Throttle", RadioComponentController::rcCalFunctionThrottle, moveToMin, false /* not identify step */);
    _stickMoveAutoStep("Yaw", RadioComponentController::rcCalFunctionYaw, moveToMax, true /* identify step */);
    _stickMoveAutoStep("Yaw", RadioComponentController::rcCalFunctionYaw, moveToMin, false /* not identify step */);
    _stickMoveAutoStep("Roll", RadioComponentController::rcCalFunctionRoll, moveToMax, true /* identify step */);
    _stickMoveAutoStep("Roll", RadioComponentController::rcCalFunctionRoll, moveToMin, false /* not identify step */);
    _stickMoveAutoStep("Pitch", RadioComponentController::rcCalFunctionPitch, moveToMax, true /* identify step */);
    _stickMoveAutoStep("Pitch", RadioComponentController::rcCalFunctionPitch, moveToMin, false /* not identify step */);
    _stickMoveAutoStep("Pitch", RadioComponentController::rcCalFunctionPitch, moveToCenter, false /* not identify step */);
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    _switchMinMaxStep();
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    if (firmwareType == MAV_AUTOPILOT_PX4) {
        _flapsDetectStep();
        _stickMoveAutoStep("Flaps", RadioComponentController::rcCalFunctionFlaps, moveToMin, false /* not identify step */);
        _switchSelectAutoStep("Aux1", RadioComponentController::rcCalFunctionAux1);
        _switchSelectAutoStep("Aux2", RadioComponentController::rcCalFunctionAux2);
    }
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    // One more click and the parameters should get saved
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    _controller->nextButtonClicked();
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    _validateParameters();
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}

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void RadioConfigTest::_fullCalibration_px4_test(void)
{
    _fullCalibrationWorker(MAV_AUTOPILOT_PX4);
}


void RadioConfigTest::_fullCalibration_apm_test(void)
{
    _fullCalibrationWorker(MAV_AUTOPILOT_ARDUPILOTMEGA);
}

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/// @brief Sets rc input to Throttle down home position. Centers all other channels.
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void RadioConfigTest::_channelHomePosition(void)
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{
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    // Initialize available channels to center point.
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    for (int i=0; i<_chanMax(); i++) {
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        _mockLink->emitRemoteControlChannelRawChanged(i, (float)RadioComponentController::_rcCalPWMCenterPoint);
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    }
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    // Throttle to min - 1 (throttle is not reversed). We do this so that the trim value is below the min value. This should end up
    // being validated and raised to min value. If not, something is wrong with RC Cal code.
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    _mockLink->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[RadioComponentController::rcCalFunctionThrottle], _testMinValue - 1);
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}

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void RadioConfigTest::_validateParameters(void)
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{
    QString minTpl("RC%1_MIN");
    QString maxTpl("RC%1_MAX");
    QString trimTpl("RC%1_TRIM");
    QString revTpl("RC%1_REV");
    
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    // Check mapping for all fuctions
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    for (int chanFunction=0; chanFunction<RadioComponentController::rcCalFunctionMax; chanFunction++) {
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        int chanIndex = _rgFunctionChannelMap[chanFunction];
        
        int expectedParameterValue;
        if (chanIndex == -1) {
            expectedParameterValue = 0;  // 0 signals no mapping
        } else {
            expectedParameterValue = chanIndex + 1; // 1-based parameter value
        }
        
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        const char* paramName = _functionInfo()[chanFunction].parameterName;
        if (paramName) {
            qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
            QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
        }
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    }
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    // Validate the channel settings. Note the channels are 1-based in parameter names.
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    for (int chan = 0; chan<_chanMax(); chan++) {
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        int oneBasedChannel = chan + 1;
        bool convertOk;
        
        // Required channels have min/max set on them. Remaining channels are left to default.
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        int rcMinExpected = _channelSettingsValidate()[chan].rcMin;
        int rcMaxExpected = _channelSettingsValidate()[chan].rcMax;
        int rcTrimExpected = _channelSettingsValidate()[chan].rcTrim;
        bool rcReversedExpected = _channelSettingsValidate()[chan].reversed;
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        int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
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        QCOMPARE(convertOk, true);
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        int rcMaxActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
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        QCOMPARE(convertOk, true);
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        int rcTrimActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
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        QCOMPARE(convertOk, true);
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        float rcReversedFloat = _autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
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        QCOMPARE(convertOk, true);
        bool rcReversedActual = (rcReversedFloat == -1.0f);
        
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        qCDebug(RadioConfigTestLog) << "_validateParameters expected channel:min:max:trim:rev" << chan << rcMinExpected << rcMaxExpected << rcTrimExpected << rcReversedExpected;
        qCDebug(RadioConfigTestLog) << "_validateParameters actual channel:min:max:trim:rev" << chan << rcMinActual << rcMaxActual << rcTrimActual << rcReversedActual;
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        QCOMPARE(rcMinExpected, rcMinActual);
        QCOMPARE(rcMaxExpected, rcMaxActual);
        QCOMPARE(rcTrimExpected, rcTrimActual);
        QCOMPARE(rcReversedExpected, rcReversedActual);
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    }
    
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    // Check mapping for all fuctions
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    for (int chanFunction=0; chanFunction<RadioComponentController::rcCalFunctionMax; chanFunction++) {
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        int expectedValue;
        if (_rgFunctionChannelMap[chanFunction] == -1) {
            expectedValue = 0;  // 0 signals no mapping
        } else {
            expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based
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        }
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        const char* paramName = _functionInfo()[chanFunction].parameterName;
        if (paramName) {
            // qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[paramName].toInt();
            QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
        }
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    }
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}
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bool RadioConfigTest::_px4Vehicle(void) const
{
    return _vehicle->firmwareType() == MAV_AUTOPILOT_PX4;
}

const struct RadioConfigTest::ChannelSettings* RadioConfigTest::_channelSettings(void) const
{
    return _px4Vehicle() ? _rgChannelSettingsPX4 : _rgChannelSettingsAPM;
}

const struct RadioConfigTest::ChannelSettings* RadioConfigTest::_channelSettingsValidate(void) const
{
    return _px4Vehicle() ? _rgChannelSettingsValidatePX4 : _rgChannelSettingsValidateAPM;
}

const struct RadioComponentController::FunctionInfo* RadioConfigTest::_functionInfo(void) const
{
    return _px4Vehicle() ? RadioComponentController::_rgFunctionInfoPX4 : RadioComponentController::_rgFunctionInfoAPM;
}

int RadioConfigTest::_chanMax(void) const
{
    return _px4Vehicle() ? RadioComponentController::_chanMaxPX4 : RadioComponentController::_chanMaxAPM;
}