From 78e025af392a3c2f41ffd701a6df9c17cd8a245c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 23 Jul 2021 20:49:30 +0100
Subject: [PATCH] AP_Compass: add Calibrator index test

---
 .../CompassCalibrator_index_test.cpp          | 52 +++++++++++++++++++
 .../CompassCalibrator_index_test/wscript      |  7 +++
 2 files changed, 59 insertions(+)
 create mode 100644 libraries/AP_Compass/examples/CompassCalibrator_index_test/CompassCalibrator_index_test.cpp
 create mode 100644 libraries/AP_Compass/examples/CompassCalibrator_index_test/wscript

diff --git a/libraries/AP_Compass/examples/CompassCalibrator_index_test/CompassCalibrator_index_test.cpp b/libraries/AP_Compass/examples/CompassCalibrator_index_test/CompassCalibrator_index_test.cpp
new file mode 100644
index 0000000000..ad6ba6b861
--- /dev/null
+++ b/libraries/AP_Compass/examples/CompassCalibrator_index_test/CompassCalibrator_index_test.cpp
@@ -0,0 +1,52 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Compass/CompassCalibrator.h>
+
+void setup();
+void loop();
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+class CompassCalibratorAccess : public CompassCalibrator{
+public:
+    Rotation auto_rotation_index_test(uint8_t n) { return auto_rotation_index(n);}
+    bool right_angle_rotation_test(Rotation r) { return right_angle_rotation(r);}
+
+};
+
+
+CompassCalibratorAccess cal;
+
+/*
+ *  rotation tests
+ */
+void setup(void)
+{
+    hal.console->begin(115200);
+    hal.console->printf("\n\ncalibration index test\n\n");
+
+    for (uint8_t n=0; n < ROTATION_MAX; n++) {
+        Rotation r = cal.auto_rotation_index_test(n);
+        hal.console->printf("index: %i got %i%s\n",n,r,cal.right_angle_rotation_test(Rotation(n)) ? ", R" : "");
+    }
+
+    hal.console->printf("rotation unit tests done\n\n");
+}
+
+void loop(void) {}
+
+AP_HAL_MAIN();
diff --git a/libraries/AP_Compass/examples/CompassCalibrator_index_test/wscript b/libraries/AP_Compass/examples/CompassCalibrator_index_test/wscript
new file mode 100644
index 0000000000..719ec151ba
--- /dev/null
+++ b/libraries/AP_Compass/examples/CompassCalibrator_index_test/wscript
@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )