mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.1 KiB
C++
74 lines
2.1 KiB
C++
#include <AP_gtest.h>
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#include <SITL/SIM_MS5611.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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using namespace SITL;
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// Dummy class to access protected functions through a public interface for unit tests
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class dummy : public SITL::MS5611
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{
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public:
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void convert_forward_pub(int32_t D1, int32_t D2, float &P_Pa, float &Temp_C);
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void convert_pub(float P_Pa, float Temp_C, uint32_t &D1, uint32_t &D2);
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};
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void dummy::convert_forward_pub(int32_t D1, int32_t D2, float &P_Pa, float &Temp_C)
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{
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dummy::convert_forward(D1, D2, P_Pa, Temp_C);
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}
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void dummy::convert_pub(float P_Pa, float Temp_C, uint32_t &D1, uint32_t &D2)
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{
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dummy::convert(P_Pa, Temp_C, D1, D2);
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}
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const struct forward_check {
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uint32_t D1; // pressure bytes
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uint32_t D2; // temperature bytes
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float P_Pa;
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float Temp_C;
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} conversion_table [] = {
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{3894332, 7304992, 1200, -30}, // < -15 deg C Temperature, Low Pressure
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{10566581, 7304992, 115200, -30}, // < -15 deg C Temperatures, High Pressure
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{3919542, 8425824, 1200, 15.15}, // < 20 deg C Temperatures, Low Pressure
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{9937566, 8425824, 115200, 15.15}, // < 20 deg C Temperatures, High Pressure
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{3930802, 9048258, 1200, 36.25}, // > 20 deg C Temperature, Low Pressure
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{9696473, 9048258, 115200, 36.25}, // > 20 deg C Temperature, High Pressure
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};
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TEST(MS5611, convert_forward)
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{
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dummy ms5611;
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float accuracy_Pa = 0.2;
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float accuracy_Temp_C = 0.02;
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for(auto elem: conversion_table) {
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float P_Pa;
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float Temp_C;
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ms5611.convert_forward_pub(elem.D1, elem.D2, P_Pa, Temp_C);
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EXPECT_NEAR(P_Pa, elem.P_Pa, accuracy_Pa);
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EXPECT_NEAR(Temp_C, elem.Temp_C, accuracy_Temp_C);
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}
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}
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TEST(MS5611, convert)
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{
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dummy ms5611;
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for(auto elem: conversion_table) {
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uint32_t D1;
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uint32_t D2;
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ms5611.convert_pub(elem.P_Pa, elem.Temp_C, D1, D2);
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// Expect NEAR here instead of EQ because in 32bit they are off by 1
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EXPECT_NEAR(D1, elem.D1, 1);
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EXPECT_NEAR(D2, elem.D2, 1);
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}
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}
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AP_GTEST_MAIN()
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