From ddb4f8775df38b10c3ffbfc10acd5b64a5707ea1 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 12 Dec 2013 14:39:55 -0800
Subject: [PATCH] Fixed UnitTest code and bugs found by unit tests

---
 src/qgcunittest/UASUnitTest.cc | 22 +++++++++++-----------
 src/uas/UAS.cc                 |  9 +++++++++
 2 files changed, 20 insertions(+), 11 deletions(-)

diff --git a/src/qgcunittest/UASUnitTest.cc b/src/qgcunittest/UASUnitTest.cc
index 58537f57f..7affa092c 100644
--- a/src/qgcunittest/UASUnitTest.cc
+++ b/src/qgcunittest/UASUnitTest.cc
@@ -178,23 +178,23 @@ void UASUnitTest::getSystemType_test()
 
 void UASUnitTest::getAirframe_test()
 {
-    //when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC which is 0
-    QCOMPARE(uas->getAirframe(), 0);
+    //when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC);
 }
 
 void UASUnitTest::setAirframe_test()
 {
     //check at construction, that airframe=0 (GENERIC)
-    QVERIFY(uas->getAirframe() == 0);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC);
 
     //check that set airframe works
-    uas->setAirframe(11);
-    QVERIFY(uas->getAirframe() == 11);
+    uas->setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER);
 
     //check that setAirframe will not assign a number to airframe, that is 
     //not defined in the enum 
-    uas->setAirframe(12);
-    QVERIFY(uas->getAirframe() == 11);
+    uas->setAirframe(UASInterface::QGC_AIRFRAME_END_OF_ENUM);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER);
 }
 
 void UASUnitTest::getWaypointList_test()
@@ -391,10 +391,10 @@ void UASUnitTest::signalIdUASLink_test()
     LinkInterface* b = static_cast<LinkInterface*>(links.at(1));
     LinkInterface* c = static_cast<LinkInterface*>(links.at(2));
     LinkInterface* d = static_cast<LinkInterface*>(links.at(3));
-    QCOMPARE(a->getName(), QString("serial port COM 17"));
-    QCOMPARE(b->getName(), QString("serial port COM 18"));
-    QCOMPARE(c->getName(), QString("serial port COM 19"));
-    QCOMPARE(d->getName(), QString("serial port COM 20"));
+    QCOMPARE(a->getName(), QString("COM 17"));
+    QCOMPARE(b->getName(), QString("COM 18"));
+    QCOMPARE(c->getName(), QString("COM 19"));
+    QCOMPARE(d->getName(), QString("COM 20"));
 
     LinkManager::instance()->removeLink(myLink4);
     delete myLink4;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 8d5be0668..cc3daa6ad 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -109,6 +109,11 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     localX(0.0),
     localY(0.0),
     localZ(0.0),
+
+    latitude(0.0),
+    longitude(0.0),
+    altitude(0.0),
+
     globalEstimatorActive(false),
     latitude_gps(0.0),
     longitude_gps(0.0),
@@ -131,6 +136,10 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     attitudeStamped(false),
     lastAttitude(0),
 
+    roll(0.0),
+    pitch(0.0),
+    yaw(0.0),
+
     paramsOnceRequested(false),
     simulation(0),
 
-- 
2.22.0