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unittests: Improve auto declination test, not great coverage yet.

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Lorenz Meier
2014-12-20 18:51:31 +01:00
parent a4606dc270
commit af9e62cf75
1 changed files with 30 additions and 6 deletions
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36
unittests/autodeclination_test.cpp
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@@ -3,26 +3,50 @@
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <math.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <px4iofirmware/px4io.h>
#include "../../src/systemcmds/tests/tests.h"
// #include "../../src/systemcmds/tests/tests.h"
#include <geo/geo.h>
int main(int argc, char *argv[]) {
warnx("autodeclination test started");
if (argc < 3)
errx(1, "Need lat/lon!");
char* latstr = 0;
char* lonstr = 0;
char* declstr = 0;
if (argc < 4) {
warnx("Too few arguments. Using default lat / lon and declination");
latstr = "47.0";
lonstr = "8.0";
declstr = "0.6";
} else {
latstr = argv[1];
lonstr = argv[2];
declstr = argv[3];
}
char* p_end;
float lat = strtod(argv[1], &p_end);
float lon = strtod(argv[2], &p_end);
float lat = strtod(latstr, &p_end);
float lon = strtod(lonstr, &p_end);
float decl_truth = strtod(declstr, &p_end);
float declination = get_mag_declination(lat, lon);
printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
printf("lat: %f lon: %f, expected dec: %f, estimated dec: %f\n", lat, lon, declination, decl_truth);
int ret = 0;
// Fail if the declination differs by more than one degree
float decldiff = fabs(decl_truth - declination);
if (decldiff > 0.5f) {
warnx("declination differs more than 1 degree: difference: %12.8f", decldiff);
ret = 1;
}
return ret;
}