diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
commit | 1492323f0327916435d806c2af1e0c8296278c9d (patch) | |
tree | d53e2768c326ec6a2cbcfd896550c446ba93fab3 /src/modules/commander/commander_tests/state_machine_helper_test.cpp | |
parent | 2669f7f3af65921d4abbf3850cd62e48f2eeeec7 (diff) | |
parent | bd88951f6ce609bc5ba364bfa3d19ae61e444964 (diff) | |
download | px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.gz px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.bz2 px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.zip |
Merged master into uavcan
Diffstat (limited to 'src/modules/commander/commander_tests/state_machine_helper_test.cpp')
-rw-r--r-- | src/modules/commander/commander_tests/state_machine_helper_test.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 8a946543d..ee0d08391 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void) TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state); - // MANUAL to SEATBELT. + // MANUAL to ALTCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = true; - new_main_state = MAIN_STATE_SEATBELT; - ut_assert("tranisition: manual to seatbelt", + new_main_state = MAIN_STATE_ALTCTL; + ut_assert("tranisition: manual to altctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state); + ut_assert("new state: altctrl", MAIN_STATE_ALTCTL == current_state.main_state); - // MANUAL to SEATBELT, invalid local altitude. + // MANUAL to ALTCTRL, invalid local altitude. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = false; - new_main_state = MAIN_STATE_SEATBELT; + new_main_state = MAIN_STATE_ALTCTL; ut_assert("no transition: invalid local altitude", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); - // MANUAL to EASY. + // MANUAL to POSCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = true; - new_main_state = MAIN_STATE_EASY; - ut_assert("transition: manual to easy", + new_main_state = MAIN_STATE_POSCTL; + ut_assert("transition: manual to posctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state); + ut_assert("current state: posctrl", MAIN_STATE_POSCTL == current_state.main_state); - // MANUAL to EASY, invalid local position. + // MANUAL to POSCTRL, invalid local position. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = false; - new_main_state = MAIN_STATE_EASY; + new_main_state = MAIN_STATE_POSCTL; ut_assert("no transition: invalid position", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); |