Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Common: ensure that constants are float not double if not otherwise declared 

use correct DOUBLE_PRECISION_SOURCES definition
portably define qsort argument in tests
fix test_location
add test_location to double sources
This commit is contained in:
Andy Piper 2023-06-20 17:17:55 +01:00 committed by Peter Hall
parent 744028e79e
commit d94e36fccc
4 changed files with 12 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_Common/AP_Common.cpp
View File

@ -22,6 +22,9 @@
extern const AP_HAL::HAL& hal;
/* assert that const vals are float, not double. so 100.0 means 100.0f */
static_assert(sizeof(1e6) == sizeof(float), "Compilation needs to use single-precision constants");
/*
Return true if value is between lower and upper bound inclusive.
False otherwise.

8
libraries/AP_Common/tests/test_location.cpp
View File

@ -63,7 +63,7 @@ TEST(Location, LatLngWrapping)
int32_t expected_lat;
int32_t expected_lng;
} tests[] {
{519634000, 1797560000, Vector2f{0, 100000}, 519634000, -1787860775}
{519634000, 1797560000, Vector2f{0, 100000}, 519634000, -1787860777}
};
for (auto &test : tests) {
@ -98,7 +98,7 @@ TEST(Location, LocOffsetDouble)
-353632620, 1491652373,
Vector2d{4682795.4576701336, 5953662.7673837934},
Vector2d{4682797.1904749088, 5953664.1586009059},
Vector2d{1.7365739867091179,1.2050807},
Vector2d{1.7365739,1.4261966},
};
for (auto &test : tests) {
@ -282,8 +282,10 @@ TEST(Location, Distance)
EXPECT_VECTOR2F_EQ(Vector3f(0, 0, 0), test_home.get_distance_NED(test_home));
EXPECT_VECTOR2F_EQ(Vector3f(-11.131885, 0, 0), test_home.get_distance_NED(test_home2));
Location test_loc = test_home;
test_loc.offset(-11.131885, 0);
test_loc.offset(-11.131886, 0);
EXPECT_TRUE(test_loc.same_latlon_as(test_home2));
test_loc = test_home;
test_loc.offset(-11.131885, 0);
test_loc.offset_bearing(0, 11.131885);
EXPECT_TRUE(test_loc.same_latlon_as(test_home));

4
libraries/AP_Common/tests/test_sorting.cpp
View File

@ -10,6 +10,8 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
typedef int (*compare_fn_t)(const void*, const void*);
static int comp16(const uint16_t *v1, const uint16_t *v2) {
return int32_t(*v1) - int32_t(*v2);
}
@ -32,7 +34,7 @@ TEST(Sorting, sort)
a1[j] = a2[j] = unsigned(random()) % maxval;
}
insertion_sort_uint16(a1, n);
qsort(a2, n, sizeof(uint16_t), (__compar_fn_t)comp16);
qsort(a2, n, sizeof(uint16_t), (compare_fn_t)comp16);
check_equal(a1, a2, n);
}
}

6
libraries/AP_Common/tests/wscript
View File

@ -4,9 +4,5 @@
def build(bld):
bld.ap_find_tests(
use='ap',
DOUBLE_PRECISION_SOURCES = ['test_location.cpp']
)
# location test needs double precision
def configure(cfg):
cfg.env.DOUBLE_PRECISION_SOURCES['AP_Common'] = ['tests/test_location.cpp']