mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.1 KiB
C#
66 lines
2.1 KiB
C#
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using ArducopterConfigurator.PresentationModels;
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using NUnit.Framework;
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namespace ArducopterConfiguratorTest
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{
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[TestFixture]
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public class StableModeConfigVmTest : VmTestBase<StableModeConfigVm>
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{
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[SetUp]
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public void Setup()
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{
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sampleLineOfData = "1.950,0.100,0.200,1.950,0.300,0.400,3.200,0.500,0.600,0.320,1.00";
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getCommand = "B";
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setCommand = "A";
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_fakeComms = new FakeComms();
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_vm = new StableModeConfigVm(_fakeComms);
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}
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[Test]
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public void UpdateStringSentIsCorrect()
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{
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_vm.PitchP = 1.0F;
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_vm.PitchI = 2.0F;
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_vm.PitchD = 3.0F;
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_vm.RollP = 5.0F;
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_vm.RollI = 6.0F;
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_vm.RollD = 7.0F;
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_vm.YawP = 8.0F;
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_vm.YawI = 9.0F;
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_vm.YawD = 10.0F;
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_vm.MagnetometerEnable = true;
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_vm.KPrate = 4.0F;
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_vm.UpdateCommand.Execute(null);
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Assert.AreEqual(1, _fakeComms.SentItems.Count);
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//A[KP Quad Roll];[KI Quad Roll];[KP RATE ROLL];
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// [KP Quad Pitch];[KI Quad Pitch];[KP RATE PITCH];
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// [KP Quad Yaw];[KI Quad Yaw];[KP Rate Yaw];
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// [KP Rate];[Magneto]
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Assert.AreEqual("A5;6;7;1;2;3;8;9;10;4;1", _fakeComms.SentItems[0]);
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}
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[Test]
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public void UpdateStringReceivedPopulatesValuesCorrectly()
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{
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_fakeComms.FireLineRecieve("B5;6;7;1;2;3;8;9;10;4;1");
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Assert.AreEqual(1.0f, _vm.PitchP);
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Assert.AreEqual(2f, _vm.PitchI);
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Assert.AreEqual(3f, _vm.PitchD);
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Assert.AreEqual(5f, _vm.RollP);
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Assert.AreEqual(6f, _vm.RollI);
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Assert.AreEqual(7f, _vm.RollD);
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Assert.AreEqual(8f, _vm.YawP);
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Assert.AreEqual(9f, _vm.YawI);
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Assert.AreEqual(10f, _vm.YawD);
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Assert.AreEqual(1f, _vm.MagnetometerEnable);
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Assert.AreEqual(4f, _vm.KPrate);
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}
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}
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}
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