From 560e24385af47ef4cd027022820862c7f9c31ac6 Mon Sep 17 00:00:00 2001 From: Shiv Tyagi Date: Sun, 20 Feb 2022 09:48:37 +0530 Subject: [PATCH] AP_Common: fix location sanitize unit test --- libraries/AP_Common/tests/test_location.cpp | 31 +++++++++++++-------- 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/libraries/AP_Common/tests/test_location.cpp b/libraries/AP_Common/tests/test_location.cpp index fddbe3804e..399806b9e6 100644 --- a/libraries/AP_Common/tests/test_location.cpp +++ b/libraries/AP_Common/tests/test_location.cpp @@ -317,24 +317,31 @@ TEST(Location, Distance) TEST(Location, Sanitize) { + // we will sanitize test_loc with test_default_loc + // test_home is just for reference const Location test_home{-35362938, 149165085, 100, Location::AltFrame::ABSOLUTE}; + EXPECT_TRUE(vehicle.ahrs.set_home(test_home)); + const Location test_default_loc{-35362938, 149165085, 200, Location::AltFrame::ABSOLUTE}; Location test_loc; test_loc.set_alt_cm(0, Location::AltFrame::ABOVE_HOME); - EXPECT_TRUE(test_loc.sanitize(test_home)); - EXPECT_TRUE(test_loc.same_latlon_as(test_home)); - EXPECT_EQ(test_home.alt, test_loc.alt); + EXPECT_TRUE(test_loc.sanitize(test_default_loc)); + EXPECT_TRUE(test_loc.same_latlon_as(test_default_loc)); + int32_t default_loc_alt; + // we should compare test_loc alt and test_default_loc alt in same frame , in this case, ABOVE HOME + EXPECT_TRUE(test_default_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, default_loc_alt)); + EXPECT_EQ(test_loc.alt, default_loc_alt); test_loc = Location(91*1e7, 0, 0, Location::AltFrame::ABSOLUTE); - EXPECT_TRUE(test_loc.sanitize(test_home)); - EXPECT_TRUE(test_loc.same_latlon_as(test_home)); - EXPECT_NE(test_home.alt, test_loc.alt); + EXPECT_TRUE(test_loc.sanitize(test_default_loc)); + EXPECT_TRUE(test_loc.same_latlon_as(test_default_loc)); + EXPECT_NE(test_default_loc.alt, test_loc.alt); test_loc = Location(0, 181*1e7, 0, Location::AltFrame::ABSOLUTE); - EXPECT_TRUE(test_loc.sanitize(test_home)); - EXPECT_TRUE(test_loc.same_latlon_as(test_home)); - EXPECT_NE(test_home.alt, test_loc.alt); + EXPECT_TRUE(test_loc.sanitize(test_default_loc)); + EXPECT_TRUE(test_loc.same_latlon_as(test_default_loc)); + EXPECT_NE(test_default_loc.alt, test_loc.alt); test_loc = Location(42*1e7, 42*1e7, 420, Location::AltFrame::ABSOLUTE); - EXPECT_FALSE(test_loc.sanitize(test_home)); - EXPECT_FALSE(test_loc.same_latlon_as(test_home)); - EXPECT_NE(test_home.alt, test_loc.alt); + EXPECT_FALSE(test_loc.sanitize(test_default_loc)); + EXPECT_FALSE(test_loc.same_latlon_as(test_default_loc)); + EXPECT_NE(test_default_loc.alt, test_loc.alt); } TEST(Location, Line)