Merge remote-tracking branch 'upstream/master' into dev_ros

Conflicts:
	src/lib/mathlib/math/Matrix.hpp
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_status.h
	src/platforms/px4_includes.h

1 files changed, 9 insertions, 44 deletions

diff --git a/unittests/autodeclination_test.cpp b/unittests/autodeclination_test.cpp
index 1bda6eb79..a27d5f100 100644
--- a/unittests/autodeclination_test.cpp
+++ b/unittests/autodeclination_test.cpp
@@ -1,52 +1,17 @@
-
+#include <math.h>
 #include <stdio.h>
 #include <stdlib.h> 
-#include <unistd.h>
 #include <string.h>
-#include <math.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/err.h>
+#include <unistd.h>
+
 #include <drivers/drv_hrt.h>
-#include <px4iofirmware/px4io.h>
-// #include "../../src/systemcmds/tests/tests.h"
 #include <geo/geo.h>
+#include <px4iofirmware/px4io.h>
+#include <systemlib/err.h>
+#include <systemlib/mixer/mixer.h>
 
-int main(int argc, char *argv[]) {
-	warnx("autodeclination test started");
-
-	char* latstr = 0;
-	char* lonstr = 0;
-	char* declstr = 0;
-
-	if (argc < 4) {
-		warnx("Too few arguments. Using default lat / lon and declination");
-		latstr = "47.0";
-		lonstr = "8.0";
-		declstr = "0.6";
-	} else {
-		latstr = argv[1];
-		lonstr = argv[2];
-		declstr = argv[3];
-	}
-
-	char* p_end;
-
-	float lat = strtod(latstr, &p_end);
-	float lon = strtod(lonstr, &p_end);
-	float decl_truth = strtod(declstr, &p_end);
-
-	float declination = get_mag_declination(lat, lon);
-
-	printf("lat: %f lon: %f, expected dec: %f, estimated dec: %f\n", lat, lon, declination, decl_truth);
-
-	int ret = 0;
-
-	// Fail if the declination differs by more than one degree
-	float decldiff = fabs(decl_truth - declination);
-	if (decldiff > 0.5f) {
-		warnx("declination differs more than 1 degree: difference: %12.8f", decldiff);
-		ret = 1;
-	}
+#include "gtest/gtest.h"
 
-	return ret;
+TEST(AutoDeclinationTest, AutoDeclination) {
+	ASSERT_NEAR(get_mag_declination(47.0, 8.0), 0.6, 0.5) << "declination differs more than 1 degree";
 }