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Fix S.BUS2 test

This commit is contained in:
Lorenz Meier 2015-12-06 13:40:30 +01:00
parent 8c5ee059ae
commit 1fdff53c82
1 changed files with 9 additions and 7 deletions
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16
unittests/sbus2_test.cpp
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@ -4,7 +4,7 @@
#include "../../src/systemcmds/tests/tests.h"
#include <drivers/drv_hrt.h>
#include <px4iofirmware/px4io.h>
#include <rc/sbus.h>
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
@ -38,7 +38,8 @@ TEST(SBUS2Test, SBUS2)
// Trash the first 20 lines
for (unsigned i = 0; i < 20; i++) {
(void)fscanf(fp, "%f,%x,,", &f, &x);
char buf[200];
(void)fgets(buf, sizeof(buf), fp);
}
// Init the parser
@ -46,7 +47,7 @@ TEST(SBUS2Test, SBUS2)
unsigned partial_frame_count = 0;
uint16_t rc_values[18];
uint16_t num_values;
uint16_t sbus_frame_drops = 0;
unsigned sbus_frame_drops = 0;
unsigned sbus_frame_resets = 0;
bool sbus_failsafe;
bool sbus_frame_drop;
@ -58,14 +59,16 @@ TEST(SBUS2Test, SBUS2)
while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
ASSERT_GT(ret, 0);
unsigned last_drop = sbus_frame_drops + sbus_frame_resets;
unsigned interval_us = ((f - last_time) * 1000 * 1000);
if (interval_us > SBUS_INTER_FRAME_TIMEOUT) {
if (partial_frame_count != 0) {
warnx("[ %08.4fs ] INTERVAL: %u - FRAME RESET, DROPPED %d bytes",
interval_us, f, partial_frame_count);
warnx("[ %08.4fs ] INTERVAL: %f - FRAME RESET, DROPPED %d bytes",
interval_us / 1e6, f, partial_frame_count);
printf("\t\tdropped: ");
for (int i = 0; i < partial_frame_count; i++) {
@ -96,8 +99,7 @@ TEST(SBUS2Test, SBUS2)
if (rate_limiter % byte_offset == 0) {
bool result = sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values,
&sbus_failsafe, &sbus_frame_drop, max_channels);
sbus_frame_drops = sbus_dropped_frames();
&sbus_failsafe, &sbus_frame_drop, &sbus_frame_drops, max_channels);
if (result)
warnx("decoded packet");