zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

AP_Common: fix location sanitize unit test

apm_2208
Shiv Tyagi 3 years ago committed by Andrew Tridgell
parent
41a5afdf64
commit
560e24385a
1 changed files with 19 additions and 12 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 31
      libraries/AP_Common/tests/test_location.cpp

31
libraries/AP_Common/tests/test_location.cpp
Unescape View File

@ -317,24 +317,31 @@ TEST(Location, Distance) @@ -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)

Write Preview
Loading…
Cancel
Save