fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ManualControlSelector: revamp logic to switch when configuration is changed

Browse Source
This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent 05946ff0c6
commit 28a29ad050
3 changed files with 47 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/manual_control/ManualControlSelectorTest.cpp
+24
View File
@@ -40,6 +40,30 @@ using namespace manual_control;
static constexpr uint64_t some_time = 12345678;
TEST(ManualControlSelector, RcInputContinuous)
{
ManualControlSelector selector;
selector.set_rc_in_mode(0);
selector.set_timeout(500_ms);
uint64_t timestamp = some_time;
// Now provide input with the correct source.
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
for (int i = 0; i < 5; i++) {
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().chosen_input.timestamp_sample, timestamp);
EXPECT_EQ(selector.instance(), 1);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
timestamp += 100_ms;
input.timestamp_sample = timestamp;
}
}
TEST(ManualControlSelector, RcInputOnly)
{
ManualControlSelector selector;