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rc_update: add unit tests for mode slot

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To verify RC mode switch and mode button functionality works as expected.
This commit is contained in:
Matthias Grob
2022-05-03 19:18:12 +02:00
parent 3fe4c6e3f5
commit 4bd2d4cf35
5 changed files with 145 additions and 11 deletions
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src/modules/rc_update/rc_update.cpp
+4 -4
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -320,7 +320,7 @@ RCUpdate::map_flight_modes_buttons()
}
// If the functionality is disabled we don't need to map channels
const int flightmode_buttons = _param_rc_map_flightmode_buttons.get();
const int flightmode_buttons = _param_rc_map_fltm_btn.get();
if (flightmode_buttons == 0) {
return;
@@ -605,7 +605,7 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.mode_slot = num_slots;
}
} else if (_param_rc_map_flightmode_buttons.get() > 0) {
} else if (_param_rc_map_fltm_btn.get() > 0) {
switches.mode_slot = manual_control_switches_s::MODE_SLOT_NONE;
bool is_consistent_button_press = false;
@@ -629,7 +629,7 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
}
}
_button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, hrt_absolute_time());
_button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, timestamp_sample);
if (_button_pressed_hysteresis.get_state()) {
switches.mode_slot = _potential_button_press_slot;