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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
2022-05-16 14:37:29 +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.h
+3 -5
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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
@@ -46,6 +46,7 @@
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <drivers/drv_hrt.h>
#include <lib/hysteresis/hysteresis.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <uORB/Publication.hpp>
@@ -59,7 +60,6 @@
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/parameter_update.h>
#include <hysteresis/hysteresis.h>
using namespace time_literals;
@@ -90,8 +90,6 @@ public:
int print_status() override;
private:
static constexpr uint64_t VALID_DATA_MIN_INTERVAL_US{1_s / 3}; // assume valid RC input is at least 3 Hz
void Run() override;
@@ -219,7 +217,7 @@ private:
(ParamInt<px4::params::RC_MAP_ARM_SW>) _param_rc_map_arm_sw,
(ParamInt<px4::params::RC_MAP_TRANS_SW>) _param_rc_map_trans_sw,
(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_flightmode_buttons,
(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_fltm_btn,
(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
(ParamInt<px4::params::RC_MAP_AUX2>) _param_rc_map_aux2,