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Fix RangeRTL test

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This commit is contained in:
Julian Kent
2020-10-19 14:47:31 +02:00
committed by Lorenz Meier
parent 5500a84b6a
commit b5f0a7ea03
1 changed files with 5 additions and 9 deletions
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src/modules/navigator/RangeRTLTest.cpp
+5 -9
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@@ -8,7 +8,7 @@
#include <gtest/gtest.h>
TEST(Navigator_and_RTL, compiles_woohoooo)
TEST(Navigator_and_RTL, interact_correctly)
{
Navigator n;
RTL rtl(&n);
@@ -17,17 +17,14 @@ TEST(Navigator_and_RTL, compiles_woohoooo)
home_position_s home_pos{};
home_pos.valid_hpos = true;
home_pos.valid_alt = true;
home_pos.timestamp = 1000;
vehicle_global_position_s glob_pos{};
vehicle_local_position_s local_pos{};
local_pos.xy_valid = true;
local_pos.z_valid = true;
vehicle_status_s v_status{};
v_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
// TODO: can't do this, it hangs forever in the while loop
// TODO: can't do this, it hangs forever in Navigator's while loop
// uORB::Publication<home_position_s> home_pos_pub{ORB_ID(home_position)};
// uORB::Publication<vehicle_global_position_s> global_pos_pub{ORB_ID(vehicle_global_position)};
// uORB::Publication<vehicle_local_position_s> local_pos_pub{ORB_ID(vehicle_local_position)};
@@ -42,18 +39,17 @@ TEST(Navigator_and_RTL, compiles_woohoooo)
// be set via pub-sub otherwise this will be a constant drag on development
*n.get_home_position() = home_pos;
*n.get_global_position() = glob_pos;
*n.get_local_position() = local_pos;
*n.get_vstatus() = v_status;
uORB::SubscriptionData<rtl_flight_time_s> _rtl_flight_time_sub{ORB_ID(rtl_flight_time)};
ASSERT_FALSE(_rtl_flight_time_sub.update());
rtl.find_RTL_destination();
ASSERT_TRUE(_rtl_flight_time_sub.update());
auto msg = _rtl_flight_time_sub.get();
EXPECT_EQ(msg.rtl_time_s, 0);
// WHEN: we set the vehicle type to multirotor
v_status.vehicle_type =
n.get_vstatus()->vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
v_status.vehicle_type = n.get_vstatus()->vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
float xy, z;
rtl.get_rtl_xy_z_speed(xy, z);