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Fix test failure from parameter autosave starting WQ

This commit is contained in:
Julian Kent 2020-12-16 13:48:11 +01:00 committed by Julian Kent
parent f97dcde4e2
commit 04d859e36e
1 changed files with 17 additions and 7 deletions
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24
src/modules/navigator/GeofenceBreachAvoidance/GeofenceBreachAvoidanceTest.cpp
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@ -34,11 +34,21 @@
#include <gtest/gtest.h>
#include "geofence_breach_avoidance.h"
#include "fake_geofence.hpp"
#include <parameters/param.h>
using namespace matrix;
using Vector2d = matrix::Vector2<double>;
TEST(GeofenceBreachAvoidanceTest, waypointFromBearingAndDistance)
class GeofenceBreachAvoidanceTest : public ::testing::Test
{
public:
void SetUp() override
{
param_control_autosave(false);
}
};
TEST_F(GeofenceBreachAvoidanceTest, waypointFromBearingAndDistance)
{
GeofenceBreachAvoidance gf_avoidance;
@ -74,7 +84,7 @@ TEST(GeofenceBreachAvoidanceTest, waypointFromBearingAndDistance)
EXPECT_EQ(home_global, same_as_home_global);
}
TEST(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing)
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing)
{
GeofenceBreachAvoidance gf_avoidance;
FakeGeofence geo;
@ -122,7 +132,7 @@ TEST(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing)
EXPECT_FLOAT_EQ(loiter_point_lat_lon(1), home_global(1));
}
TEST(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor)
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor)
{
GeofenceBreachAvoidance gf_avoidance;
FakeGeofence geo;
@ -185,7 +195,7 @@ TEST(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor)
EXPECT_EQ(loiter_point, home_global);
}
TEST(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForFixedWing)
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForFixedWing)
{
GeofenceBreachAvoidance gf_avoidance;
const float current_alt_amsl = 100.0f;
@ -207,7 +217,7 @@ TEST(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForFixedWing)
EXPECT_EQ(loiter_alt, current_alt_amsl);
}
TEST(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForMulticopter)
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForMulticopter)
{
GeofenceBreachAvoidance gf_avoidance;
const float climbrate = 10.0f;
@ -231,7 +241,7 @@ TEST(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForMulticopter)
EXPECT_EQ(loiter_alt_amsl, current_alt_amsl);
}
TEST(GeofenceBreachAvoidance, maxDistToHomeViolationMulticopter)
TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationMulticopter)
{
GeofenceBreachAvoidance gf_avoidance;
FakeGeofence geo;
@ -264,7 +274,7 @@ TEST(GeofenceBreachAvoidance, maxDistToHomeViolationMulticopter)
EXPECT_EQ(loiter_point_predicted, loiter_point_lat_lon);
}
TEST(GeofenceBreachAvoidance, maxDistToHomeViolationFixedWing)
TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationFixedWing)
{
GeofenceBreachAvoidance gf_avoidance;
FakeGeofence geo;