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rc_update: add unit tests for two way payload power switch

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with the intention to extend it to an optional 3 way switch.
This commit is contained in:
Matthias Grob 2025-05-06 14:56:42 +02:00
parent 8e7c2ed440
commit 1bccd5557a
1 changed files with 68 additions and 1 deletions
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69
src/modules/rc_update/RCUpdateTest.cpp
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@ -128,13 +128,39 @@ public:
EXPECT_EQ(manual_control_switches_sub.get().return_switch, expected_position);
}
void checkPayloadPowerSwitch(float channel_value, float threshold, uint8_t expected_position)
{
// GIVEN: First channel is configured as payload power switch
_param_rc_map_pay_sw.set(1);
_param_rc_map_pay_sw.commit();
_param_rc_payload_th.set(threshold);
_param_rc_payload_th.commit();
_rc_update.updateParams();
EXPECT_EQ(_param_rc_map_pay_sw.get(), 1);
EXPECT_FLOAT_EQ(_param_rc_payload_th.get(), threshold);
// GIVEN: First channel has some value
_rc_update.setChannel(0, channel_value);
// WHEN: we update the switches two times to pass the simple outlier protection
_rc_update.UpdateManualSwitches(0);
_rc_update.UpdateManualSwitches(0);
// THEN: we receive the expected mode slot
uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
EXPECT_EQ(manual_control_switches_sub.get().payload_power_switch, expected_position);
}
TestRCUpdate _rc_update;
DEFINE_PARAMETERS(
(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_fltm_btn,
(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th
(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
(ParamInt<px4::params::RC_MAP_PAY_SW>) _param_rc_map_pay_sw,
(ParamFloat<px4::params::RC_PAYLOAD_TH>) _param_rc_payload_th
)
};
@ -233,3 +259,44 @@ TEST_F(RCUpdateTest, ReturnSwitchNegativeThresholds)
checkReturnSwitch(1.f, -.001f, 3); // Above minimum threshold -> SWITCH_POS_OFF
checkReturnSwitch(-1.f, -.001f, 1); // Slightly below minimum threshold -> SWITCH_POS_OFF
}
TEST_F(RCUpdateTest, PayloadPowerSwitchPositiveThresholds)
{
checkPayloadPowerSwitch(-1.f, 0.5f, 3); // Below threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(0.f, 0.5f, 3); // On threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(.001f, 0.5f, 1); // Slightly above threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(1.f, 0.5f, 1); // Above threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(-1.f, 0.75f, 3); // Below threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(0.f, 0.75f, 3); // Below threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(.5f, 0.75f, 3); // On threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(.501f, 0.75f, 1); // Slightly above threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(1.f, 0.75f, 1); // Above threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(-1.f, 0.f, 3); // On minimum threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(-.999f, 0.f, 1); // Slightly above minimum threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(1.f, 0.f, 1); // Above minimum threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(-1.f, 1.f, 3); // Below maximum threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(1.f, 1.f, 3); // On maximum threshold -> SWITCH_POS_OFF
}
TEST_F(RCUpdateTest, PayloadPowerSwitchNegativeThresholds)
{
checkPayloadPowerSwitch(1.f, -0.5f, 3); // Above threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(0.f, -0.5f, 3); // On threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(-.001f, -0.5f, 1); // Slightly below threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(-1.f, -0.5f, 1); // Below threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(1.f, -0.75f, 3); // Above threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(.5f, -0.75f, 3); // On threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(.499f, -0.75f, 1); // Slightly below threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(-1.f, -0.75f, 1); // Below threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(1.f, -1.f, 3); // On maximum threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(.999f, -1.f, 1); // Slighly below maximum threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(-1.f, -1.f, 1); // Below minimum threshold -> SWITCH_POS_ON
checkPayloadPowerSwitch(1.f, -.001f, 3); // Above minimum threshold -> SWITCH_POS_OFF
checkPayloadPowerSwitch(-1.f, -.001f, 1); // Slightly below minimum threshold -> SWITCH_POS_OFF
}