mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.4 KiB
C++
40 lines
1.4 KiB
C++
#include <AP_gtest.h>
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#include <AP_BattMonitor/AP_BattMonitor_Backend.h>
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static float calculate_mah_with_double_cast(float amps, float dt)
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{
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return (float) ((double) amps * (double) dt * (double) 0.0000002778f);
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}
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static float calculate_mah(float amps, float dt)
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{
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return AP_BattMonitor_Backend::calculate_mah(amps, dt);
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}
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TEST(AP_BATTMONITOR_MAH, test_calculate_mah)
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{
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/* Basic unit tests to check for regressions */
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EXPECT_FLOAT_EQ(0.0002778, calculate_mah(1000, 1));
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EXPECT_FLOAT_EQ(2.778e-06, calculate_mah(1, 10));
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EXPECT_FLOAT_EQ(0.34296274, calculate_mah(1234567, 1));
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/* Test negative amperes */
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EXPECT_FLOAT_EQ(-0.02778, calculate_mah(-100, 1000));
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EXPECT_FLOAT_EQ(-34296.3, calculate_mah(-12345678, 10000));
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EXPECT_FLOAT_EQ(-2.778e-10, calculate_mah(-0.000001, 1000));
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EXPECT_FLOAT_EQ(-2.778e-07, calculate_mah(-1, 1));
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}
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TEST(AP_BATTMONITOR_ACCURACY, test_float_accuracy)
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{
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/* Test for loss of accuracy */
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EXPECT_FLOAT_EQ(calculate_mah(100, 1), calculate_mah_with_double_cast(100, 1));
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EXPECT_FLOAT_EQ(calculate_mah(-1, 1), calculate_mah_with_double_cast(-1, 1));
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EXPECT_FLOAT_EQ(calculate_mah(0.0000000001f, 1), calculate_mah_with_double_cast(0.0000000001f, 1));
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EXPECT_FLOAT_EQ(calculate_mah(1234.123456789, 1), calculate_mah_with_double_cast(1234.123456789, 1));
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EXPECT_FLOAT_EQ(calculate_mah(-1234.123456789, 1), calculate_mah_with_double_cast(-1234.123456789, 1));
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}
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AP_GTEST_MAIN()
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