fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 06:20:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Replaces poshold/althold with posctrl/altctrl

Browse Source
This commit is contained in:
TickTock-
2014-04-28 21:47:45 -07:00
parent 269800b48c
commit 31089a290b
16 changed files with 97 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+12 -12
View File
@@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to ALTHOLD.
// MANUAL to ALTCTRL.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = true;
new_main_state = MAIN_STATE_ALTHOLD;
ut_assert("tranisition: manual to althold",
new_main_state = MAIN_STATE_ALTCTRL;
ut_assert("tranisition: manual to altctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("new state: althold", MAIN_STATE_ALTHOLD == current_state.main_state);
ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state);
// MANUAL to ALTHOLD, invalid local altitude.
// MANUAL to ALTCTRL, invalid local altitude.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_altitude_valid = false;
new_main_state = MAIN_STATE_ALTHOLD;
new_main_state = MAIN_STATE_ALTCTRL;
ut_assert("no transition: invalid local altitude",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
// MANUAL to POSHOLD.
// MANUAL to POSCTRL.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = true;
new_main_state = MAIN_STATE_POSHOLD;
ut_assert("transition: manual to poshold",
new_main_state = MAIN_STATE_POSCTRL;
ut_assert("transition: manual to posctrl",
TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: poshold", MAIN_STATE_POSHOLD == current_state.main_state);
ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state);
// MANUAL to POSHOLD, invalid local position.
// MANUAL to POSCTRL, invalid local position.
current_state.main_state = MAIN_STATE_MANUAL;
current_state.condition_local_position_valid = false;
new_main_state = MAIN_STATE_POSHOLD;
new_main_state = MAIN_STATE_POSCTRL;
ut_assert("no transition: invalid position",
TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);