test_mixer.cpp File Reference

Mixer load test. More...

#include <dirent.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <math.h>
#include <px4_platform_common/px4_config.h>
#include <lib/mixer/MixerGroup.hpp>
#include <lib/mixer/mixer_load.h>
#include <output_limit/output_limit.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include <px4iofirmware/mixer.h>
#include <px4iofirmware/protocol.h>
#include <uORB/topics/actuator_controls.h>
#include "tests_main.h"
#include <unit_test.h>

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Classes
class	MixerTest

Macros
#define	MIXER_DIFFERENCE_THRESHOLD   2
#define	PATH_MAX   4096
#define	MIXER_ONBOARD_PATH   "/etc/mixers"
#define	MIXER_PATH(_file)   MIXER_ONBOARD_PATH"/"#_file
#define	MIXER_VERBOSE

Functions
static int	mixer_callback (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control)
	ut_declare_test_c (test_mixer, MixerTest) bool MixerTest

Variables
static const unsigned	output_max = 8
static float	actuator_controls [output_max]
static bool	should_prearm = false

Detailed Description

Mixer load test.

Definition in file test_mixer.cpp.

Macro Definition Documentation

MIXER_DIFFERENCE_THRESHOLD

#define MIXER_DIFFERENCE_THRESHOLD   2

Definition at line 72 of file test_mixer.cpp.

Referenced by MixerTest::mixerTest().

MIXER_ONBOARD_PATH

#define MIXER_ONBOARD_PATH   "/etc/mixers"

Definition at line 87 of file test_mixer.cpp.

Referenced by MixerTest::loadAllTest().

MIXER_PATH

#define MIXER_PATH

(

_file

)

MIXER_ONBOARD_PATH"/"#_file

Definition at line 88 of file test_mixer.cpp.

Referenced by MixerTest::loadComplexTest(), MixerTest::loadQuadTest(), MixerTest::loadVTOL1Test(), MixerTest::loadVTOL2Test(), MixerTest::mixerTest(), and ut_declare_test_c().

MIXER_VERBOSE

#define MIXER_VERBOSE

Definition at line 92 of file test_mixer.cpp.

PATH_MAX

#define PATH_MAX   4096

Definition at line 79 of file test_mixer.cpp.

Referenced by MixerTest::loadAllTest().

Function Documentation

mixer_callback()

static int mixer_callback ( uintptr_t  handle, uint8_t  control_group, uint8_t  control_index, float &  control  )

static

Definition at line 574 of file test_mixer.cpp.

References actuator_controls, and should_prearm.

Referenced by MixerTest::load_mixer().

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ut_declare_test_c()

ut_declare_test_c	(	test_mixer	,
		MixerTest
	)

Definition at line 128 of file test_mixer.cpp.

References MixerTest::load_mixer(), and MIXER_PATH.

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Variable Documentation

actuator_controls

float actuator_controls[output_max]

static

Definition at line 66 of file test_mixer.cpp.

Referenced by mixer_callback(), and MixerTest::mixerTest().

output_max

const unsigned output_max = 8

static

Definition at line 65 of file test_mixer.cpp.

Referenced by MixerTest::mixerTest().

should_prearm

bool should_prearm = false

static

Definition at line 67 of file test_mixer.cpp.

Referenced by mixer_callback(), and MixerTest::mixerTest().