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manual_control: fix tests

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This commit is contained in:
Julian Oes 2021-06-14 11:08:35 +02:00 committed by Matthias Grob
parent 53bd254502
commit 39282a795f
1 changed files with 7 additions and 7 deletions
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14
src/modules/manual_control/ManualControlSelectorTest.cpp
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@ -64,7 +64,7 @@ TEST(ManualControlSelector, RcInputOnly)
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 1);
}
@ -91,7 +91,7 @@ TEST(ManualControlSelector, MavlinkInputOnly)
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_3);
EXPECT_EQ(selector.instance(), 1);
// But only the first MAVLink source wins, others are too late.
@ -104,7 +104,7 @@ TEST(ManualControlSelector, MavlinkInputOnly)
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_3);
EXPECT_EQ(selector.instance(), 1);
}
@ -122,7 +122,7 @@ TEST(ManualControlSelector, AutoInput)
selector.update_manual_control_input(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 100_ms;
@ -133,7 +133,7 @@ TEST(ManualControlSelector, AutoInput)
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 500_ms;
@ -144,7 +144,7 @@ TEST(ManualControlSelector, AutoInput)
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
}
@ -162,7 +162,7 @@ TEST(ManualControlSelector, RcTimeout)
selector.update_manual_control_input(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 600_ms;