src/test/unit/rc_controls_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17 #include <stdint.h>
  18
  19 #include <limits.h>
  20
  21 //#define DEBUG_RC_CONTROLS
  22
  23 extern "C" {
  24     #include "platform.h"
  25
  26     #include "common/maths.h"
  27     #include "common/axis.h"
  28     #include "common/bitarray.h"
  29
  30     #include "pg/pg.h"
  31     #include "pg/pg_ids.h"
  32     #include "pg/rx.h"
  33
  34     #include "blackbox/blackbox.h"
  35     #include "blackbox/blackbox_fielddefs.h"
  36
  37     #include "drivers/sensor.h"
  38
  39     #include "sensors/sensors.h"
  40     #include "sensors/acceleration.h"
  41
  42     #include "io/beeper.h"
  43
  44     #include "rx/rx.h"
  45
  46     #include "flight/pid.h"
  47
  48     #include "config/config.h"
  49     #include "fc/controlrate_profile.h"
  50     #include "fc/rc_modes.h"
  51     #include "fc/rc_adjustments.h"
  52
  53     #include "fc/rc_controls.h"
  54     #include "fc/runtime_config.h"
  55     #include "fc/core.h"
  56
  57     #include "scheduler/scheduler.h"
  58 }
  59
  60 #include "unittest_macros.h"
  61 #include "gtest/gtest.h"
  62
  63 void unsetArmingDisabled(armingDisableFlags_e flag) {
  64   UNUSED(flag);
  65 }
  66
  67 class RcControlsModesTest : public ::testing::Test {
  68 protected:
  69     virtual void SetUp() {
  70     }
  71 };
  72
  73 TEST_F(RcControlsModesTest, updateActivatedModesWithAllInputsAtMidde)
  74 {
  75     // given
  76     boxBitmask_t mask;
  77     memset(&mask, 0, sizeof(mask));
  78     rcModeUpdate(&mask);
  79
  80     // and
  81     memset(&rxRuntimeState, 0, sizeof(rxRuntimeState_t));
  82     rxRuntimeState.channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
  83
  84     // and
  85     for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
  86         rcData[index] = PWM_RANGE_MIDDLE;
  87     }
  88
  89     // when
  90     analyzeModeActivationConditions();
  91     updateActivatedModes();
  92
  93     // then
  94     for (int index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
  95 #ifdef DEBUG_RC_CONTROLS
  96         printf("iteration: %d\n", index);
  97 #endif
  98         EXPECT_EQ(false, IS_RC_MODE_ACTIVE((boxId_e)index));
  99     }
 100 }
 101
 102 TEST_F(RcControlsModesTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues)
 103 {
 104     // given
 105     modeActivationConditionsMutable(0)->modeId = (boxId_e)0;
 106     modeActivationConditionsMutable(0)->auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
 107     modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1700);
 108     modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
 109
 110     modeActivationConditionsMutable(1)->modeId = (boxId_e)1;
 111     modeActivationConditionsMutable(1)->auxChannelIndex = AUX2 - NON_AUX_CHANNEL_COUNT;
 112     modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1300);
 113     modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(1700);
 114
 115     modeActivationConditionsMutable(2)->modeId = (boxId_e)2;
 116     modeActivationConditionsMutable(2)->auxChannelIndex = AUX3 - NON_AUX_CHANNEL_COUNT;
 117     modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(900);
 118     modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(1200);
 119
 120     modeActivationConditionsMutable(3)->modeId = (boxId_e)3;
 121     modeActivationConditionsMutable(3)->auxChannelIndex = AUX4 - NON_AUX_CHANNEL_COUNT;
 122     modeActivationConditionsMutable(3)->range.startStep = CHANNEL_VALUE_TO_STEP(900);
 123     modeActivationConditionsMutable(3)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
 124
 125     modeActivationConditionsMutable(4)->modeId = (boxId_e)4;
 126     modeActivationConditionsMutable(4)->auxChannelIndex = AUX5 - NON_AUX_CHANNEL_COUNT;
 127     modeActivationConditionsMutable(4)->range.startStep = CHANNEL_VALUE_TO_STEP(900);
 128     modeActivationConditionsMutable(4)->range.endStep = CHANNEL_VALUE_TO_STEP(925);
 129
 130     EXPECT_EQ(0, modeActivationConditions(4)->range.startStep);
 131     EXPECT_EQ(1, modeActivationConditions(4)->range.endStep);
 132
 133     modeActivationConditionsMutable(5)->modeId = (boxId_e)5;
 134     modeActivationConditionsMutable(5)->auxChannelIndex = AUX6 - NON_AUX_CHANNEL_COUNT;
 135     modeActivationConditionsMutable(5)->range.startStep = CHANNEL_VALUE_TO_STEP(2075);
 136     modeActivationConditionsMutable(5)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
 137
 138     EXPECT_EQ(47, modeActivationConditions(5)->range.startStep);
 139     EXPECT_EQ(48, modeActivationConditions(5)->range.endStep);
 140
 141     modeActivationConditionsMutable(6)->modeId = (boxId_e)6;
 142     modeActivationConditionsMutable(6)->auxChannelIndex = AUX7 - NON_AUX_CHANNEL_COUNT;
 143     modeActivationConditionsMutable(6)->range.startStep = CHANNEL_VALUE_TO_STEP(925);
 144     modeActivationConditionsMutable(6)->range.endStep = CHANNEL_VALUE_TO_STEP(950);
 145
 146     EXPECT_EQ(1, modeActivationConditions(6)->range.startStep);
 147     EXPECT_EQ(2, modeActivationConditions(6)->range.endStep);
 148
 149     // and
 150     boxBitmask_t mask;
 151     memset(&mask, 0, sizeof(mask));
 152     rcModeUpdate(&mask);
 153
 154     // and
 155     memset(&rxRuntimeState, 0, sizeof(rxRuntimeState_t));
 156     rxRuntimeState.channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
 157
 158     // and
 159     for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
 160         rcData[index] = PWM_RANGE_MIDDLE;
 161     }
 162
 163     rcData[AUX1] = PWM_RANGE_MAX;
 164     rcData[AUX2] = PWM_RANGE_MIDDLE;
 165     rcData[AUX3] = PWM_RANGE_MIN;
 166     rcData[AUX4] = PWM_RANGE_MAX;
 167     rcData[AUX5] = 899; // value lower that range minimum should be treated the same as the lowest range value
 168     rcData[AUX6] = 2101; // value higher than the range maximum should be treated the same as the highest range value
 169     rcData[AUX7] = 950; // value equal to range step upper boundary should not activate the mode
 170
 171     // and
 172     boxBitmask_t activeBoxIds;
 173     memset(&activeBoxIds, 0, sizeof(boxBitmask_t));
 174     bitArraySet(&activeBoxIds, 0);
 175     bitArraySet(&activeBoxIds, 1);
 176     bitArraySet(&activeBoxIds, 2);
 177     bitArraySet(&activeBoxIds, 3);
 178     bitArraySet(&activeBoxIds, 4);
 179     bitArraySet(&activeBoxIds, 5);
 180
 181     // when
 182     analyzeModeActivationConditions();
 183     updateActivatedModes();
 184
 185     // then
 186     for (int index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
 187 #ifdef DEBUG_RC_CONTROLS
 188         printf("iteration: %d, %d\n", index, (bool)(bitArrayGet(&activeBoxIds, index)));
 189 #endif
 190         EXPECT_EQ((bool)(bitArrayGet(&activeBoxIds, index)), IS_RC_MODE_ACTIVE((boxId_e)index));
 191     }
 192 }
 193
 194 enum {
 195     COUNTER_QUEUE_CONFIRMATION_BEEP,
 196     COUNTER_CHANGE_CONTROL_RATE_PROFILE
 197 };
 198 #define CALL_COUNT_ITEM_COUNT 2
 199
 200 static int callCounts[CALL_COUNT_ITEM_COUNT];
 201
 202 #define CALL_COUNTER(item) (callCounts[item])
 203
 204 extern "C" {
 205 void beeperConfirmationBeeps(uint8_t) {
 206     callCounts[COUNTER_QUEUE_CONFIRMATION_BEEP]++;
 207 }
 208
 209 void beeper(beeperMode_e mode) {
 210     UNUSED(mode);
 211 }
 212
 213 void changeControlRateProfile(uint8_t) {
 214     callCounts[COUNTER_CHANGE_CONTROL_RATE_PROFILE]++;
 215 }
 216
 217 }
 218
 219 void resetCallCounters(void) {
 220     memset(&callCounts, 0, sizeof(callCounts));
 221 }
 222
 223 uint32_t fixedMillis;
 224
 225 extern "C" {
 226 uint32_t millis(void) {
 227     return fixedMillis;
 228 }
 229
 230 uint32_t micros(void) {
 231     return fixedMillis * 1000;
 232 }
 233 }
 234
 235 void resetMillis(void) {
 236     fixedMillis = 0;
 237 }
 238
 239 #define DEFAULT_MIN_CHECK 1100
 240 #define DEFAULT_MAX_CHECK 1900
 241
 242 extern "C" {
 243     PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
 244
 245     extern int stepwiseAdjustmentCount;
 246     extern timedAdjustmentState_t stepwiseAdjustments[MAX_ADJUSTMENT_RANGE_COUNT];
 247
 248     extern int continuosAdjustmentCount;
 249     extern continuosAdjustmentState_t continuosAdjustments[MAX_ADJUSTMENT_RANGE_COUNT];
 250 }
 251
 252 class RcControlsAdjustmentsTest : public ::testing::Test {
 253 protected:
 254     controlRateConfig_t controlRateConfig = {
 255             .rcRates[FD_ROLL] = 90,
 256             .rcRates[FD_PITCH] = 90,
 257             .rcExpo[FD_ROLL] = 0,
 258             .rcExpo[FD_PITCH] = 0,
 259             .thrMid8 = 0,
 260             .thrExpo8 = 0,
 261             .rates = {0, 0, 0},
 262             .dynThrPID = 0,
 263             .rcExpo[FD_YAW] = 0,
 264             .tpa_breakpoint = 0
 265     };
 266
 267     channelRange_t fullRange = {
 268         .startStep = MIN_MODE_RANGE_STEP,
 269         .endStep = MAX_MODE_RANGE_STEP
 270     };
 271
 272     int adjustmentRangesIndex;
 273
 274     virtual void SetUp() {
 275         PG_RESET(rxConfig);
 276         rxConfigMutable()->mincheck = DEFAULT_MIN_CHECK;
 277         rxConfigMutable()->maxcheck = DEFAULT_MAX_CHECK;
 278         rxConfigMutable()->midrc = 1500;
 279
 280         controlRateConfig.rcRates[FD_ROLL] = 90;
 281         controlRateConfig.rcRates[FD_PITCH] = 90;
 282         controlRateConfig.rcExpo[FD_ROLL] = 0;
 283         controlRateConfig.rcExpo[FD_PITCH] = 0;
 284         controlRateConfig.thrMid8 = 0;
 285         controlRateConfig.thrExpo8 = 0;
 286         controlRateConfig.rcExpo[FD_YAW] = 0;
 287         controlRateConfig.rates[0] = 0;
 288         controlRateConfig.rates[1] = 0;
 289         controlRateConfig.rates[2] = 0;
 290         controlRateConfig.dynThrPID = 0;
 291         controlRateConfig.tpa_breakpoint = 0;
 292
 293         PG_RESET(adjustmentRanges);
 294         adjustmentRangesIndex = 0;
 295
 296         stepwiseAdjustmentCount = 0;
 297         continuosAdjustmentCount = 0;
 298     }
 299
 300     int configureAdjustmentRange(uint8_t switchChannelIndex, uint8_t adjustmentConfigIndex) {
 301         adjustmentRange_t *adjustmentRange = adjustmentRangesMutable(adjustmentRangesIndex);
 302         adjustmentRange->auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
 303         adjustmentRange->range = fullRange;
 304
 305         adjustmentRange->adjustmentConfig = adjustmentConfigIndex;
 306         adjustmentRange->auxSwitchChannelIndex = switchChannelIndex;
 307
 308         return adjustmentRangesIndex++;
 309     }
 310
 311     timedAdjustmentState_t *configureStepwiseAdjustment(uint8_t switchChannelIndex, uint8_t adjustmentConfigIndex) {
 312         int adjustmentRangeIndex = configureAdjustmentRange(switchChannelIndex, adjustmentConfigIndex);
 313
 314         timedAdjustmentState_t *adjustmentState = &stepwiseAdjustments[stepwiseAdjustmentCount++];
 315         adjustmentState->adjustmentRangeIndex = adjustmentRangeIndex;
 316         adjustmentState->timeoutAt = 0;
 317         adjustmentState->ready = true;
 318
 319         return adjustmentState;
 320     }
 321
 322     void configureContinuosAdjustment(uint8_t switchChannelIndex, uint8_t adjustmentConfigIndex) {
 323         int adjustmentRangeIndex = configureAdjustmentRange(switchChannelIndex, adjustmentConfigIndex);
 324
 325         continuosAdjustmentState_t *adjustmentState = &continuosAdjustments[continuosAdjustmentCount++];
 326         adjustmentState->adjustmentRangeIndex = adjustmentRangeIndex;
 327         adjustmentState->lastRcData = 0;
 328     }
 329 };
 330
 331 #define ADJUSTMENT_CONFIG_RATE_INDEX 1
 332
 333 TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
 334 {
 335     // given
 336     const timedAdjustmentState_t *adjustmentState = configureStepwiseAdjustment(AUX3 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_CONFIG_RATE_INDEX);
 337
 338     // and
 339     for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
 340         rcData[index] = PWM_RANGE_MIDDLE;
 341     }
 342
 343     // and
 344     resetCallCounters();
 345     resetMillis();
 346
 347     // when
 348     processRcAdjustments(&controlRateConfig);
 349
 350     // then
 351     EXPECT_EQ(90, controlRateConfig.rcRates[FD_ROLL]);
 352     EXPECT_EQ(90, controlRateConfig.rcRates[FD_PITCH]);
 353     EXPECT_EQ(0, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
 354     EXPECT_EQ(true, adjustmentState->ready);
 355 }
 356
 357 TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
 358 {
 359     // given
 360     controlRateConfig_t controlRateConfig = {
 361             .rcRates[FD_ROLL] = 90,
 362             .rcRates[FD_PITCH] = 90,
 363             .rcExpo[FD_ROLL] = 0,
 364             .rcExpo[FD_PITCH] = 0,
 365             .thrMid8 = 0,
 366             .thrExpo8 = 0,
 367             .rates = {0,0,0},
 368             .dynThrPID = 0,
 369             .rcExpo[FD_YAW] = 0,
 370             .tpa_breakpoint = 0
 371     };
 372
 373     // and
 374     PG_RESET(rxConfig);
 375     rxConfigMutable()->mincheck = DEFAULT_MIN_CHECK;
 376     rxConfigMutable()->maxcheck = DEFAULT_MAX_CHECK;
 377     rxConfigMutable()->midrc = 1500;
 378
 379     // and
 380     const timedAdjustmentState_t *adjustmentState = configureStepwiseAdjustment(AUX3 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_CONFIG_RATE_INDEX);
 381
 382     // and
 383     for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
 384         rcData[index] = PWM_RANGE_MIDDLE;
 385     }
 386
 387     // and
 388     resetCallCounters();
 389     resetMillis();
 390
 391     // and
 392     rcData[AUX3] = PWM_RANGE_MAX;
 393
 394     // and
 395     fixedMillis = 496;
 396
 397     // when
 398     processRcAdjustments(&controlRateConfig);
 399
 400     // then
 401     EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]);
 402     EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]);
 403     EXPECT_EQ(1, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
 404     EXPECT_EQ(false, adjustmentState->ready);
 405
 406     //
 407     // now pretend a short amount of time has passed, but not enough time to allow the value to have been increased
 408     //
 409
 410     // given
 411     fixedMillis = 497;
 412
 413     // when
 414     processRcAdjustments(&controlRateConfig);
 415
 416     EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]);
 417     EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]);
 418     EXPECT_EQ(false, adjustmentState->ready);
 419
 420
 421     //
 422     // moving the switch back to the middle should immediately reset the state flag without increasing the value
 423     //
 424
 425
 426     // given
 427     rcData[AUX3] = PWM_RANGE_MIDDLE;
 428
 429     // and
 430     fixedMillis = 498;
 431
 432     // when
 433     processRcAdjustments(&controlRateConfig);
 434
 435     EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]);
 436     EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]);
 437     EXPECT_EQ(true, adjustmentState->ready);
 438
 439
 440     //
 441     // flipping the switch again, before the state reset would have occurred, allows the value to be increased again
 442
 443     // given
 444     rcData[AUX3] = PWM_RANGE_MAX;
 445
 446     // and
 447     fixedMillis = 499;
 448
 449     // when
 450     processRcAdjustments(&controlRateConfig);
 451
 452     // then
 453     EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]);
 454     EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]);
 455     EXPECT_EQ(2, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
 456     EXPECT_EQ(false, adjustmentState->ready);
 457
 458     //
 459     // leaving the switch up, after the original timer would have reset the state should now NOT cause
 460     // the rate to increase, it should only increase after another 500ms from when the state was reset.
 461     //
 462
 463     // given
 464     fixedMillis = 500;
 465
 466     // when
 467     processRcAdjustments(&controlRateConfig);
 468
 469     // then
 470     EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]);
 471     EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]);
 472     EXPECT_EQ(false, adjustmentState->ready);
 473
 474     //
 475     // should still not be able to be increased
 476     //
 477
 478     // given
 479     fixedMillis = 997;
 480
 481     // when
 482     processRcAdjustments(&controlRateConfig);
 483
 484     // then
 485     EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]);
 486     EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]);
 487     EXPECT_EQ(false, adjustmentState->ready);
 488
 489     //
 490     // 500ms has now passed since the switch was returned to the middle, now that
 491     // switch is still in the UP position after the timer has elapses it should
 492     // be increased again.
 493     //
 494
 495     // given
 496     fixedMillis = 998;
 497
 498     // when
 499     processRcAdjustments(&controlRateConfig);
 500
 501     // then
 502     EXPECT_EQ(93, controlRateConfig.rcRates[FD_ROLL]);
 503     EXPECT_EQ(93, controlRateConfig.rcRates[FD_PITCH]);
 504     EXPECT_EQ(3, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
 505     EXPECT_EQ(false, adjustmentState->ready);
 506 }
 507
 508 #define ADJUSTMENT_RATE_PROFILE_INDEX 12
 509
 510 TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
 511 {
 512     // given
 513     configureContinuosAdjustment(AUX4 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_RATE_PROFILE_INDEX);
 514
 515     // and
 516     for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
 517         rcData[index] = PWM_RANGE_MIDDLE;
 518     }
 519
 520     // and
 521     resetCallCounters();
 522     resetMillis();
 523
 524     // and
 525     rcData[AUX4] = PWM_RANGE_MAX;
 526
 527     // when
 528     processRcAdjustments(&controlRateConfig);
 529
 530     // then
 531     EXPECT_EQ(1, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
 532     EXPECT_EQ(1, CALL_COUNTER(COUNTER_CHANGE_CONTROL_RATE_PROFILE));
 533 }
 534
 535 #define ADJUSTMENT_PITCH_ROLL_P_INDEX 6
 536 #define ADJUSTMENT_PITCH_ROLL_I_INDEX 7
 537 #define ADJUSTMENT_PITCH_ROLL_D_INDEX 8
 538 #define ADJUSTMENT_YAW_P_INDEX 9
 539 #define ADJUSTMENT_YAW_I_INDEX 10
 540 #define ADJUSTMENT_YAW_D_INDEX 11
 541
 542 TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
 543 {
 544     // given
 545     pidProfile_t pidProfile;
 546     memset(&pidProfile, 0, sizeof (pidProfile));
 547     pidProfile.pid[PID_PITCH].P = 0;
 548     pidProfile.pid[PID_PITCH].I = 10;
 549     pidProfile.pid[PID_PITCH].D = 20;
 550     pidProfile.pid[PID_ROLL].P = 5;
 551     pidProfile.pid[PID_ROLL].I = 15;
 552     pidProfile.pid[PID_ROLL].D = 25;
 553     pidProfile.pid[PID_YAW].P = 7;
 554     pidProfile.pid[PID_YAW].I = 17;
 555     pidProfile.pid[PID_YAW].D = 27;
 556     // and
 557     controlRateConfig_t controlRateConfig;
 558     memset(&controlRateConfig, 0, sizeof (controlRateConfig));
 559
 560     const timedAdjustmentState_t *adjustmentState1 = configureStepwiseAdjustment(AUX1 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_PITCH_ROLL_P_INDEX);
 561     const timedAdjustmentState_t *adjustmentState2 = configureStepwiseAdjustment(AUX2 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_PITCH_ROLL_I_INDEX);
 562     const timedAdjustmentState_t *adjustmentState3 = configureStepwiseAdjustment(AUX3 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_PITCH_ROLL_D_INDEX);
 563     const timedAdjustmentState_t *adjustmentState4 = configureStepwiseAdjustment(AUX1 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_YAW_P_INDEX);
 564     const timedAdjustmentState_t *adjustmentState5 = configureStepwiseAdjustment(AUX2 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_YAW_I_INDEX);
 565     const timedAdjustmentState_t *adjustmentState6 = configureStepwiseAdjustment(AUX3 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_YAW_D_INDEX);
 566
 567     // and
 568     for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
 569         rcData[index] = PWM_RANGE_MIDDLE;
 570     }
 571
 572     // and
 573     resetCallCounters();
 574     resetMillis();
 575
 576     // and
 577     rcData[AUX1] = PWM_RANGE_MAX;
 578     rcData[AUX2] = PWM_RANGE_MAX;
 579     rcData[AUX3] = PWM_RANGE_MAX;
 580
 581     // when
 582     currentPidProfile = &pidProfile;
 583     rcControlsInit();
 584     processRcAdjustments(&controlRateConfig);
 585
 586     // then
 587     EXPECT_EQ(6, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
 588     EXPECT_EQ(false, adjustmentState1->ready);
 589     EXPECT_EQ(false, adjustmentState2->ready);
 590     EXPECT_EQ(false, adjustmentState3->ready);
 591     EXPECT_EQ(false, adjustmentState4->ready);
 592     EXPECT_EQ(false, adjustmentState5->ready);
 593     EXPECT_EQ(false, adjustmentState6->ready);
 594
 595     // and
 596     EXPECT_EQ(1,  pidProfile.pid[PID_PITCH].P);
 597     EXPECT_EQ(11, pidProfile.pid[PID_PITCH].I);
 598     EXPECT_EQ(21, pidProfile.pid[PID_PITCH].D);
 599     EXPECT_EQ(6,  pidProfile.pid[PID_ROLL].P);
 600     EXPECT_EQ(16, pidProfile.pid[PID_ROLL].I);
 601     EXPECT_EQ(26, pidProfile.pid[PID_ROLL].D);
 602     EXPECT_EQ(8,  pidProfile.pid[PID_YAW].P);
 603     EXPECT_EQ(18, pidProfile.pid[PID_YAW].I);
 604     EXPECT_EQ(28, pidProfile.pid[PID_YAW].D);
 605 }
 606
 607 extern "C" {
 608 void setConfigDirty(void) {}
 609 void saveConfigAndNotify(void) {}
 610 void initRcProcessing(void) {}
 611 void changePidProfile(uint8_t) {}
 612 void pidInitConfig(const pidProfile_t *) {}
 613 void accSetCalibrationCycles(uint16_t) {}
 614 void gyroStartCalibration(bool isFirstArmingCalibration)
 615 {
 616     UNUSED(isFirstArmingCalibration);
 617 }
 618 void applyAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
 619 void handleInflightCalibrationStickPosition(void) {}
 620 bool featureIsEnabled(uint32_t) { return false;}
 621 bool sensors(uint32_t) { return false;}
 622 void tryArm(void) {}
 623 void disarm(void) {}
 624 void dashboardDisablePageCycling() {}
 625 void dashboardEnablePageCycling() {}
 626
 627 bool failsafeIsActive() { return false; }
 628 bool rxIsReceivingSignal() { return true; }
 629
 630 uint8_t getCurrentControlRateProfileIndex(void) {
 631     return 0;
 632 }
 633 void GPS_reset_home_position(void) {}
 634 void baroSetCalibrationCycles(uint16_t) {}
 635
 636 void blackboxLogEvent(FlightLogEvent, flightLogEventData_t *) {}
 637
 638 bool cmsInMenu = false;
 639 uint8_t armingFlags = 0;
 640 uint16_t flightModeFlags = 0;
 641 int16_t heading;
 642 uint8_t stateFlags = 0;
 643 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 644 pidProfile_t *currentPidProfile;
 645 rxRuntimeState_t rxRuntimeState;
 646 PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
 647 PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
 648 void resetArmingDisabled(void) {}
 649 timeDelta_t getTaskDeltaTime(cfTaskId_e) { return 20000; }
 650 armingDisableFlags_e getArmingDisableFlags(void) {
 651     return (armingDisableFlags_e) 0;
 652 }
 653 bool isTryingToArm(void) { return false; }
 654 void resetTryingToArm(void) {}
 655 void setLedProfile(uint8_t profile) { UNUSED(profile); }
 656 uint8_t getLedProfile(void) { return 0; }
 657 }