dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Helicopter: fix unit test after default throttle curve was changed

This commit is contained in:
Matthias Grob 2022-08-31 15:51:08 +02:00 committed by Beat Küng
parent 115cf4d572
commit 667e99be81
No known key found for this signature in database
GPG Key ID: 866DB5F0E24821BB
1 changed files with 15 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp
View File

@ -36,8 +36,22 @@
using namespace matrix;
TEST(FunctionsTest, ThrottleCurve)
TEST(ActuatorEffectivenessHelicopterTest, ThrottleCurve)
{
// Disable autosaving parameters to avoid busy loop in param_set()
param_control_autosave(false);
// Set parameters for a predefined throttle curve
float values[5] = {0.f, .3f, .6f, .8f, 1.f};
param_t param;
for (int i = 0; i < 5; i++) {
char buffer[17];
snprintf(buffer, sizeof(buffer), "CA_HELI_THR_C%u", i);
param = param_find(buffer);
param_set(param, &values[i]);
}
ActuatorEffectivenessHelicopter helicopter(nullptr);
// run getEffectivenessMatrix with empty configuration to correctly initialize _first_swash_plate_servo_index
ActuatorEffectiveness::Configuration configuration{};