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Fix mixer testing setup

This commit is contained in:
Lorenz Meier 2016-04-17 18:53:50 +02:00
parent 74db7bdf84
commit 20a59b8886
3 changed files with 29 additions and 4 deletions
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25
ROMFS/px4fmu_common/mixers/quad_test.mix Normal file
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@ -0,0 +1,25 @@
Multirotor mixer for TEST
===========================
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
R: 4w 10000 10000 10000 0
Gimbal / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

6
src/systemcmds/tests/test_mixer.cpp
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@ -402,7 +402,7 @@ int test_mixer(int argc, char *argv[])
filename = argv[2];
} else {
filename = "/etc/mixers/quad_w.main.mix";
filename = "/etc/mixers/quad_test.mix";
}
load_mixer_file(filename, &buf[0], sizeof(buf));
@ -414,8 +414,8 @@ int test_mixer(int argc, char *argv[])
mixer_group.load_from_buf(&buf[0], mc_loaded);
PX4_INFO("complete buffer load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 3) {
PX4_ERR("FAIL: Quad W mixer load failed");
if (mixer_group.count() != 5) {
PX4_ERR("FAIL: Quad test mixer load failed");
return 1;
}

2
unittests/mixer_test.cpp
View File

@ -7,6 +7,6 @@
TEST(MixerTest, Mixer)
{
const char *args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix"};
const char *args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/quad_test.mix"};
ASSERT_EQ(test_mixer(3, (char **)args), 0) << "IO_pass.mix failed";
}