fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 14:04:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander unit tests: enable preflight checks

Browse Source 
- the last check expects pre_arm to run so we need to enable the
  preflight checks. This is closer to the real system.
- as a result we need to enable HIL for other tests so that the sensors
  are not checked.
This commit is contained in:
Beat Küng 2019-08-16 11:23:19 +02:00
parent 878ed8136c
commit d64d3170c0
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/commander/commander_tests/state_machine_helper_test.cpp
View File

@ -194,14 +194,14 @@ bool StateMachineHelperTest::armingStateTransitionTest()
{
"transition: standby to armed, no safety switch",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
},
{
"transition: standby to armed, safety switch off",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
},
@ -269,7 +269,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
// Safety switch arming tests
{
"no transition: init to standby, safety switch on",
"no transition: init to armed, safety switch on",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
@ -301,7 +301,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
// Attempt transition
transition_result_t result = arming_state_transition(&status, safety, test->requested_state, &armed,
false /* no pre-arm checks */,
true /* enable pre-arm checks */,
nullptr /* no mavlink_log_pub */,
&status_flags,
(check_gps ? ARM_REQ_GPS_BIT : 0),