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mixer_test change count to 4

This commit is contained in:
Daniel Agar 2016-03-12 15:43:25 -05:00 committed by Lorenz Meier
parent 20ec9965ea
commit ca4dfb5643
1 changed files with 8 additions and 7 deletions
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15
src/systemcmds/tests/test_mixer.cpp
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@ -100,7 +100,7 @@ int test_mixer(int argc, char *argv[])
load_mixer_file(filename, &buf[0], sizeof(buf)); load_mixer_file(filename, &buf[0], sizeof(buf));
unsigned loaded = strlen(buf); unsigned loaded = strlen(buf);
PX4_INFO("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded); fprintf(stderr, "loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
/* load the mixer in chunks, like /* load the mixer in chunks, like
* in the case of a remote load, * in the case of a remote load,
@ -155,7 +155,7 @@ int test_mixer(int argc, char *argv[])
memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length); memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length);
mixer_text_length += text_length; mixer_text_length += text_length;
mixer_text[mixer_text_length] = '\0'; mixer_text[mixer_text_length] = '\0';
PX4_INFO("buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]); fprintf(stderr, "buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]);
/* process the text buffer, adding new mixers as their descriptions can be parsed */ /* process the text buffer, adding new mixers as their descriptions can be parsed */
unsigned resid = mixer_text_length; unsigned resid = mixer_text_length;
@ -163,7 +163,7 @@ int test_mixer(int argc, char *argv[])
/* if anything was parsed */ /* if anything was parsed */
if (resid != mixer_text_length) { if (resid != mixer_text_length) {
PX4_INFO("used %u", mixer_text_length - resid); fprintf(stderr, "used %u", mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */ /* copy any leftover text to the base of the buffer for re-use */
if (resid > 0) { if (resid > 0) {
@ -292,13 +292,14 @@ int test_mixer(int argc, char *argv[])
r_page_servo_control_max, outputs, r_page_servo_control_max, outputs,
r_page_servos, &pwm_limit); r_page_servos, &pwm_limit);
PX4_INFO("mixed %d outputs (max %d)", mixed, output_max); fprintf(stderr, "mixed %d outputs (max %d)", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) { for (unsigned i = 0; i < mixed; i++) {
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
if (abs(servo_predicted[i] - r_page_servos[i]) > 2) { if (abs(servo_predicted[i] - r_page_servos[i]) > 2) {
fprintf(stderr, "\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]); fprintf(stderr, "\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i],
(int)r_page_servos[i]);
PX4_ERR("mixer violated predicted value"); PX4_ERR("mixer violated predicted value");
return 1; return 1;
} }
@ -407,13 +408,13 @@ int test_mixer(int argc, char *argv[])
load_mixer_file(filename, &buf[0], sizeof(buf)); load_mixer_file(filename, &buf[0], sizeof(buf));
loaded = strlen(buf); loaded = strlen(buf);
PX4_INFO("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded); fprintf(stderr, "loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
unsigned mc_loaded = loaded; unsigned mc_loaded = loaded;
mixer_group.load_from_buf(&buf[0], mc_loaded); mixer_group.load_from_buf(&buf[0], mc_loaded);
PX4_INFO("complete buffer load: loaded %u mixers", mixer_group.count()); PX4_INFO("complete buffer load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 5) { if (mixer_group.count() != 4) {
PX4_ERR("FAIL: Quad W mixer load failed"); PX4_ERR("FAIL: Quad W mixer load failed");
return 1; return 1;
} }