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commander unit tests: enable preflight checks

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- the last check expects pre_arm to run so we need to enable the
  preflight checks. This is closer to the real system.
- as a result we need to enable HIL for other tests so that the sensors
  are not checked.
This commit is contained in:
Beat Küng
2019-08-16 11:23:19 +02:00
parent 878ed8136c
commit d64d3170c0
1 changed files with 4 additions and 4 deletions
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8
src/modules/commander/commander_tests/state_machine_helper_test.cpp
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@@ -194,14 +194,14 @@ bool StateMachineHelperTest::armingStateTransitionTest()
{ {
"transition: standby to armed, no safety switch", "transition: standby to armed, no safety switch",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF, { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
vehicle_status_s::ARMING_STATE_ARMED, vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
}, },
{ {
"transition: standby to armed, safety switch off", "transition: standby to armed, safety switch off",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF, { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
vehicle_status_s::ARMING_STATE_ARMED, vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED { vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
}, },
@@ -269,7 +269,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
// Safety switch arming tests // Safety switch arming tests
{ {
"no transition: init to standby, safety switch on", "no transition: init to armed, safety switch on",
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_ARMED, vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
@@ -301,7 +301,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
// Attempt transition // Attempt transition
transition_result_t result = arming_state_transition(&status, safety, test->requested_state, &armed, transition_result_t result = arming_state_transition(&status, safety, test->requested_state, &armed,
false /* no pre-arm checks */, true /* enable pre-arm checks */,
nullptr /* no mavlink_log_pub */, nullptr /* no mavlink_log_pub */,
&status_flags, &status_flags,
(check_gps ? ARM_REQ_GPS_BIT : 0), (check_gps ? ARM_REQ_GPS_BIT : 0),