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Commit 1ca15362 authored by DonLakeFlyer's avatar DonLakeFlyer
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Update to new Copter 3.5 params

parent 1e5aaf80
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Showing with 122 additions and 114 deletions
src/qgcunittest/RadioConfigTest.cc
View file @ 1ca15362
......@@ -29,28 +29,28 @@ QGC_LOGGING_CATEGORY(RadioConfigTestLog, "RadioConfigTestLog")
#define CHK_BUTTONS(mask) \
{ \
if (_controller->_nextButton->isEnabled() != !!((mask) & nextButtonMask) || \
_controller->_skipButton->isEnabled() != !!((mask) & skipButtonMask) || \
_controller->_cancelButton->isEnabled() != !!((mask) & cancelButtonMask) ) { \
qCDebug(RadioConfigTestLog) << _controller->_statusText->property("text"); \
_controller->_skipButton->isEnabled() != !!((mask) & skipButtonMask) || \
_controller->_cancelButton->isEnabled() != !!((mask) & cancelButtonMask) ) { \
qCDebug(RadioConfigTestLog) << _controller->_statusText->property("text"); \
} \
QCOMPARE(_controller->_nextButton->isEnabled(), !!((mask) & nextButtonMask)); \
QCOMPARE(_controller->_skipButton->isEnabled(), !!((mask) & skipButtonMask)); \
QCOMPARE(_controller->_cancelButton->isEnabled(), !!((mask) & cancelButtonMask)); \
}
}
// 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) \
{ \
if (mode == testModeStandalone && tryCancel ## cancelNum) { \
QTest::mouseClick(_cancelButton, Qt::LeftButton); \
QCOMPARE(_controller->_rcCalState, RadioComponentController::rcCalStateChannelWait); \
tryCancel ## cancelNum = false; \
goto StartOver; \
QTest::mouseClick(_cancelButton, Qt::LeftButton); \
QCOMPARE(_controller->_rcCalState, RadioComponentController::rcCalStateChannelWait); \
tryCancel ## cancelNum = false; \
goto StartOver; \
} else { \
QTest::mouseClick(_nextButton, Qt::LeftButton); \
QTest::mouseClick(_nextButton, Qt::LeftButton); \
} \
}
}
const int RadioConfigTest::_stickSettleWait = RadioComponentController::_stickDetectSettleMSecs * 1.5;
......@@ -59,98 +59,98 @@ const int RadioConfigTest::_testMaxValue = RadioComponentController::_rcCalPWMDe
const int RadioConfigTest::_testCenterValue = RadioConfigTest::_testMinValue + ((RadioConfigTest::_testMaxValue - RadioConfigTest::_testMinValue) / 2);
const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsPX4[RadioComponentController::_chanMaxPX4] = {
// 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.
// These are here to skip over the flight mode functions
{ 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 },
// Channels 14-17: 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 },
// 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.
// These are here to skip over the flight mode functions
{ 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 },
// Channels 14-17: 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 },
};
// 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::_rgChannelSettingsValidatePX4[RadioComponentController::_chanMaxPX4] = {
// 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 },
{ RadioComponentController::rcCalFunctionPitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ 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 12-17 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 },
{ 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 1-4: Mapped to attitude control function
{ RadioComponentController::rcCalFunctionRoll, _testMinValue, _testMaxValue, _testCenterValue, true },
{ RadioComponentController::rcCalFunctionPitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ 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 12-17 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 },
{ 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 },
};
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 },
{ 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
......@@ -159,26 +159,26 @@ const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSetting
// 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 },
{ RadioComponentController::rcCalFunctionPitch, _testMinValue, _testMaxValue, _testCenterValue, true },
{ 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 },
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
// Channels 1-4: Mapped to attitude control function
{ RadioComponentController::rcCalFunctionRoll, _testMinValue, _testMaxValue, _testCenterValue, true },
{ RadioComponentController::rcCalFunctionPitch, _testMinValue, _testMaxValue, _testCenterValue, true },
{ 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 },
};
RadioConfigTest::RadioConfigTest(void) :
......@@ -447,8 +447,10 @@ void RadioConfigTest::_validateParameters(void)
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
QString revTplPX4("RC%1_REV");
QString revTplAPM("RC%1_REVERSED");
// Check mapping for all fuctions
for (int chanFunction=0; chanFunction<RadioComponentController::rcCalFunctionMax; chanFunction++) {
int chanIndex = _rgFunctionChannelMap[chanFunction];
......@@ -484,9 +486,15 @@ void RadioConfigTest::_validateParameters(void)
QCOMPARE(convertOk, true);
int rcTrimActual = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
QCOMPARE(convertOk, true);
float rcReversedFloat = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
QCOMPARE(convertOk, true);
bool rcReversedActual = (rcReversedFloat == -1.0f);
bool rcReversedActual;
if (_vehicle->px4Firmware()) {
float rcReversedFloat = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, revTplPX4.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
QCOMPARE(convertOk, true);
rcReversedActual = (rcReversedFloat == -1.0f);
} else {
rcReversedActual = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, revTplAPM.arg(oneBasedChannel))->rawValue().toBool();
}
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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