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AP_RCProtocol: added SUMD protocol test

This commit is contained in:
Andrew Tridgell 2018-11-05 15:50:21 +11:00
parent 7996259726
commit ae18fd1cef
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
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@ -77,7 +77,7 @@ static bool test_byte_protocol(const char *name, uint32_t baudrate,
}
hal.scheduler->delay(10);
if (repeat > repeats) {
ret &= check_result(name, false, values, nvalues);
ret &= check_result(name, true, values, nvalues);
}
}
return ret;
@ -196,7 +196,13 @@ void loop()
0x26, 0x16, 0x34, 0x01, 0x04, 0x75, 0x1C, 0x40};
const uint16_t dsm_output[] = {1501, 1004, 1568, 1537, 1814, 2015, 1500};
const uint8_t sumd_bytes[] = {0xA8, 0x01, 0x08, 0x2F, 0x50, 0x31, 0xE8, 0x21, 0xA0,
0x2F, 0x50, 0x22, 0x60, 0x22, 0x60, 0x2E, 0xE0, 0x2E,
0xE0, 0x87, 0xC6};
const uint16_t sumd_output[] = {1597, 1076, 1514, 1514, 1100, 1100, 1500, 1500};
test_protocol("SRXL", 115200, srxl_bytes, sizeof(srxl_bytes), srxl_output, ARRAY_SIZE(srxl_output), 1);
test_protocol("SUMD", 115200, sumd_bytes, sizeof(sumd_bytes), sumd_output, ARRAY_SIZE(sumd_output), 1);
// SBUS needs 3 repeats to pass the RCProtocol 3 frames test
test_protocol("SBUS", 100000, sbus_bytes, sizeof(sbus_bytes), sbus_output, ARRAY_SIZE(sbus_output), 3);