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AP_Common: add test for longitude wrapping

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Peter Barker 2021-06-23 10:55:55 +10:00 committed by Peter Barker
parent 77d83b9c77
commit f69e2a49f6
1 changed files with 32 additions and 0 deletions
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32
libraries/AP_Common/tests/test_location.cpp
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@ -95,6 +95,38 @@ EXPECT_NEAR(v1[1], v2[1], acc); \
EXPECT_NEAR(v1[2], v2[2], acc); \ EXPECT_NEAR(v1[2], v2[2], acc); \
} while (false); } while (false);
TEST(Location, LatLngWrapping)
{
struct {
int32_t start_lat;
int32_t start_lng;
Vector2f delta_metres_ne;
int32_t expected_lat;
int32_t expected_lng;
} tests[] {
{519634000, 1797560000, Vector2f{0, 100000}, 519634000, -1787860775}
};
for (auto &test : tests) {
// forward
{
Location loc{test.start_lat, test.start_lng, 0, Location::AltFrame::ABOVE_HOME};
loc.offset(test.delta_metres_ne[0], test.delta_metres_ne[1]);
EXPECT_EQ(test.expected_lat, loc.lat);
EXPECT_EQ(test.expected_lng, loc.lng);
EXPECT_EQ(0, loc.alt);
}
// and now reverse
{
Location rev{test.expected_lat, test.expected_lng, 0, Location::AltFrame::ABOVE_HOME};
rev.offset(-test.delta_metres_ne[0], -test.delta_metres_ne[1]);
EXPECT_EQ(rev.lat, test.start_lat);
EXPECT_EQ(rev.lng, test.start_lng);
EXPECT_EQ(0, rev.alt);
}
}
}
TEST(Location, Tests) TEST(Location, Tests)
{ {
Location test_location; Location test_location;