519586a5ce
git://github.com/ethomas997/cleanflight into ethomas997-refactoredBeeperCode_181_1 Conflicts: src/main/flight/failsafe.c src/main/io/beeper.c src/main/mw.c
124 lines
2.9 KiB
C++
124 lines
2.9 KiB
C++
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <limits.h>
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#define BARO
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extern "C" {
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#include "debug.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "sensors/sensors.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "config/runtime_config.h"
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#include "rx/rx.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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#define DOWNWARDS_THRUST true
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#define UPWARDS_THRUST false
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TEST(FlightImuTest, TestCalculateHeading)
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{
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//TODO: Add test cases using the Z dimension.
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t_fp_vector north = {.A={1.0f, 0.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&north), 0);
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t_fp_vector east = {.A={0.0f, 1.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&east), 90);
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t_fp_vector south = {.A={-1.0f, 0.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&south), 180);
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t_fp_vector west = {.A={0.0f, -1.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&west), 270);
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t_fp_vector north_east = {.A={1.0f, 1.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&north_east), 45);
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}
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// STUBS
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extern "C" {
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uint32_t rcModeActivationMask;
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int16_t rcCommand[4];
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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uint16_t acc_1G;
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int16_t heading;
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gyro_t gyro;
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int16_t magADC[XYZ_AXIS_COUNT];
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int32_t BaroAlt;
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int16_t debug[DEBUG16_VALUE_COUNT];
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uint8_t stateFlags;
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uint16_t flightModeFlags;
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uint8_t armingFlags;
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int32_t sonarAlt;
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int16_t accADC[XYZ_AXIS_COUNT];
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int16_t gyroADC[XYZ_AXIS_COUNT];
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uint16_t enableFlightMode(flightModeFlags_e mask)
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{
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return flightModeFlags |= (mask);
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}
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uint16_t disableFlightMode(flightModeFlags_e mask)
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{
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return flightModeFlags &= ~(mask);
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}
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void gyroUpdate(void) {};
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bool sensors(uint32_t mask)
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{
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UNUSED(mask);
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return false;
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};
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void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
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{
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UNUSED(rollAndPitchTrims);
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}
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uint32_t micros(void) { return 0; }
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bool isBaroCalibrationComplete(void) { return true; }
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void performBaroCalibrationCycle(void) {}
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int32_t baroCalculateAltitude(void) { return 0; }
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}
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