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test: updated VARTest for new AP_Param vector3f handling

This commit is contained in:
Andrew Tridgell 2012-02-24 17:23:47 +11:00
parent 690dc9052a
commit 9d6ac9032e
1 changed files with 39 additions and 3 deletions
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42
Tools/VARTest/VARTest.pde
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@ -104,6 +104,10 @@ void setup() {
ofs.z += 1.3;
compass.set_offsets(ofs);
compass.save_offsets();
Serial.printf_P(PSTR("Compass: %f %f %f\n"),
ofs.x, ofs.y, ofs.z);
test_vector3f();
// full testing of all variables
AP_Param::ParamToken token;
@ -122,15 +126,47 @@ void loop()
{
}
// test vector3f handling
void test_vector3f(void)
{
enum ap_var_type type;
AP_Float *f;
AP_Vector3f *v;
Vector3f vec;
v = (AP_Vector3f *)AP_Param::find("COMPASS_OFS", &type);
f = (AP_Float *)AP_Param::find("COMPASS_OFS_X", &type);
f->set_and_save(10);
f = (AP_Float *)AP_Param::find("COMPASS_OFS_Y", &type);
f->set_and_save(11);
f = (AP_Float *)AP_Param::find("COMPASS_OFS_Z", &type);
f->set_and_save(12);
v->load();
vec = *v;
Serial.printf_P(PSTR("vec %f %f %f\n"),
vec.x, vec.y, vec.z);
if (vec.x != 10 ||
vec.y != 11 ||
vec.z != 12) {
Serial.printf_P(PSTR("wrong value for compass vector\n"));
}
}
// test all interfaces for a variable
void test_variable(AP_Param *ap, enum ap_var_type type)
{
static uint8_t value;
static int8_t value;
char s[AP_MAX_NAME_SIZE+1];
value++;
ap->copy_name(s, sizeof(s));
ap->copy_name(s, sizeof(s), type==AP_PARAM_FLOAT);
Serial.printf_P(PSTR("Testing variable '%s' of type %u\n"),
s, type);
enum ap_var_type type2;
@ -156,7 +192,7 @@ void test_variable(AP_Param *ap, enum ap_var_type type)
Debug("failed load");
}
if (v->get() != value) {
Debug("wrong value %u %u", (unsigned)v->get(), value);
Debug("wrong value %d %d", (int)v->get(), (int)value);
}
if (!v->set_and_save(value+1)) {
Debug("failed set_and_save");