From d64d3170c03c254bafea8b6bf964035d2dd5efe1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 16 Aug 2019 11:23:19 +0200 Subject: [PATCH] commander unit tests: enable preflight checks - 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. --- .../commander_tests/state_machine_helper_test.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 4aefbc988a..6d663fcb7f 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -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),