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Fix enum and param update

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This commit is contained in:
Julian Kent
2021-01-13 10:26:10 +01:00
committed by Julian Kent
parent c745c8bb45
commit a97a4d8bb8
5 changed files with 22 additions and 23 deletions
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src/modules/navigator/GeofenceBreachAvoidance/GeofenceBreachAvoidanceTest.cpp
+10 -10
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@@ -51,7 +51,7 @@ public:
TEST_F(GeofenceBreachAvoidanceTest, waypointFromBearingAndDistance)
{
GeofenceBreachAvoidance gf_avoidance;
GeofenceBreachAvoidance gf_avoidance(nullptr);
struct map_projection_reference_s ref = {};
Vector2d home_global(42.1, 8.2);
map_projection_init(&ref, home_global(0), home_global(1));
@@ -86,7 +86,7 @@ TEST_F(GeofenceBreachAvoidanceTest, waypointFromBearingAndDistance)
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing)
{
GeofenceBreachAvoidance gf_avoidance;
GeofenceBreachAvoidance gf_avoidance(nullptr);
FakeGeofence geo;
struct map_projection_reference_s ref = {};
Vector2d home_global(42.1, 8.2);
@@ -109,7 +109,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing)
EXPECT_FLOAT_EQ(loiter_point_lat_lon(1), loiter_point_lat_lon_expected(1));
geo.setProbeFunctionBehavior(FakeGeofence::LEFT_INSIDE_RIGHT_OUTSIDE);
geo.setProbeFunctionBehavior(FakeGeofence::ProbeFunction::LEFT_INSIDE_RIGHT_OUTSIDE);
loiter_point_lat_lon = gf_avoidance.generateLoiterPointForFixedWing(gf_violation, &geo);
loiter_point_lat_lon_expected = gf_avoidance.waypointFromBearingAndDistance(home_global, -M_PI_F * 0.5f, 20.0f);
@@ -117,7 +117,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing)
EXPECT_FLOAT_EQ(loiter_point_lat_lon(0), loiter_point_lat_lon_expected(0));
EXPECT_FLOAT_EQ(loiter_point_lat_lon(1), loiter_point_lat_lon_expected(1));
geo.setProbeFunctionBehavior(FakeGeofence::RIGHT_INSIDE_LEFT_OUTSIDE);
geo.setProbeFunctionBehavior(FakeGeofence::ProbeFunction::RIGHT_INSIDE_LEFT_OUTSIDE);
loiter_point_lat_lon = gf_avoidance.generateLoiterPointForFixedWing(gf_violation, &geo);
loiter_point_lat_lon_expected = gf_avoidance.waypointFromBearingAndDistance(home_global, M_PI_F * 0.5f, 20.0f);
@@ -134,7 +134,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing)
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor)
{
GeofenceBreachAvoidance gf_avoidance;
GeofenceBreachAvoidance gf_avoidance(nullptr);
FakeGeofence geo;
struct map_projection_reference_s ref = {};
Vector2d home_global(42.1, 8.2);
@@ -163,7 +163,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor)
gf_avoidance.setHorizontalVelocity(1000.0f);
gf_avoidance.computeBrakingDistanceMultirotor();
geo.setProbeFunctionBehavior(FakeGeofence::GF_BOUNDARY_20M_AHEAD);
geo.setProbeFunctionBehavior(FakeGeofence::ProbeFunction::GF_BOUNDARY_20M_AHEAD);
Vector2d loiter_point = gf_avoidance.generateLoiterPointForMultirotor(gf_violation, &geo);
@@ -197,7 +197,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor)
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForFixedWing)
{
GeofenceBreachAvoidance gf_avoidance;
GeofenceBreachAvoidance gf_avoidance(nullptr);
const float current_alt_amsl = 100.0f;
const float vertical_test_point_dist = 10.0f;
@@ -219,7 +219,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForFixedWing)
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForMulticopter)
{
GeofenceBreachAvoidance gf_avoidance;
GeofenceBreachAvoidance gf_avoidance(nullptr);
const float climbrate = 10.0f;
const float current_alt_amsl = 100.0f;
geofence_violation_type_u gf_violation;
@@ -243,7 +243,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForMulticopter)
TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationMulticopter)
{
GeofenceBreachAvoidance gf_avoidance;
GeofenceBreachAvoidance gf_avoidance(nullptr);
FakeGeofence geo;
struct map_projection_reference_s ref = {};
Vector2d home_global(42.1, 8.2);
@@ -276,7 +276,7 @@ TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationMulticopter)
TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationFixedWing)
{
GeofenceBreachAvoidance gf_avoidance;
GeofenceBreachAvoidance gf_avoidance(nullptr);
FakeGeofence geo;
struct map_projection_reference_s ref = {};
Vector2d home_global(42.1, 8.2);