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AP_Common: fix location sanitize unit test

This commit is contained in:
Shiv Tyagi 2022-02-20 09:48:37 +05:30 committed by Andrew Tridgell
parent 41a5afdf64
commit 560e24385a
1 changed files with 19 additions and 12 deletions
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31
libraries/AP_Common/tests/test_location.cpp
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@ -317,24 +317,31 @@ TEST(Location, Distance)
TEST(Location, Sanitize)
{
// we will sanitize test_loc with test_default_loc
// test_home is just for reference
const Location test_home{-35362938, 149165085, 100, Location::AltFrame::ABSOLUTE};
EXPECT_TRUE(vehicle.ahrs.set_home(test_home));
const Location test_default_loc{-35362938, 149165085, 200, Location::AltFrame::ABSOLUTE};
Location test_loc;
test_loc.set_alt_cm(0, Location::AltFrame::ABOVE_HOME);
EXPECT_TRUE(test_loc.sanitize(test_home));
EXPECT_TRUE(test_loc.same_latlon_as(test_home));
EXPECT_EQ(test_home.alt, test_loc.alt);
EXPECT_TRUE(test_loc.sanitize(test_default_loc));
EXPECT_TRUE(test_loc.same_latlon_as(test_default_loc));
int32_t default_loc_alt;
// we should compare test_loc alt and test_default_loc alt in same frame , in this case, ABOVE HOME
EXPECT_TRUE(test_default_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, default_loc_alt));
EXPECT_EQ(test_loc.alt, default_loc_alt);
test_loc = Location(91*1e7, 0, 0, Location::AltFrame::ABSOLUTE);
EXPECT_TRUE(test_loc.sanitize(test_home));
EXPECT_TRUE(test_loc.same_latlon_as(test_home));
EXPECT_NE(test_home.alt, test_loc.alt);
EXPECT_TRUE(test_loc.sanitize(test_default_loc));
EXPECT_TRUE(test_loc.same_latlon_as(test_default_loc));
EXPECT_NE(test_default_loc.alt, test_loc.alt);
test_loc = Location(0, 181*1e7, 0, Location::AltFrame::ABSOLUTE);
EXPECT_TRUE(test_loc.sanitize(test_home));
EXPECT_TRUE(test_loc.same_latlon_as(test_home));
EXPECT_NE(test_home.alt, test_loc.alt);
EXPECT_TRUE(test_loc.sanitize(test_default_loc));
EXPECT_TRUE(test_loc.same_latlon_as(test_default_loc));
EXPECT_NE(test_default_loc.alt, test_loc.alt);
test_loc = Location(42*1e7, 42*1e7, 420, Location::AltFrame::ABSOLUTE);
EXPECT_FALSE(test_loc.sanitize(test_home));
EXPECT_FALSE(test_loc.same_latlon_as(test_home));
EXPECT_NE(test_home.alt, test_loc.alt);
EXPECT_FALSE(test_loc.sanitize(test_default_loc));
EXPECT_FALSE(test_loc.same_latlon_as(test_default_loc));
EXPECT_NE(test_default_loc.alt, test_loc.alt);
}
TEST(Location, Line)