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AP_BattMonitor: Add calculate_mah, add unit tests
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,39 @@ | ||
#include <AP_gtest.h> | ||
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#include <AP_BattMonitor/AP_BattMonitor_Backend.h> | ||
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float calculate_mah_with_double_cast(float amps, float dt) | ||
{ | ||
return (float) ((double) amps * (double) dt * (double) 0.0000002778f); | ||
} | ||
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float calculate_mah(float amps, float dt) | ||
{ | ||
return AP_BattMonitor_Backend::calculate_mah(amps, dt); | ||
} | ||
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TEST(AP_BATTMONITOR_MAH, test_calculate_mah) | ||
{ | ||
/* Basic unit tests to check for regressions */ | ||
EXPECT_FLOAT_EQ(0.0002778, calculate_mah(1000, 1)); | ||
EXPECT_FLOAT_EQ(2.778e-06, calculate_mah(1, 10)); | ||
EXPECT_FLOAT_EQ(0.34296274, calculate_mah(1234567, 1)); | ||
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/* Test negative amperes */ | ||
EXPECT_FLOAT_EQ(-0.02778, calculate_mah(-100, 1000)); | ||
EXPECT_FLOAT_EQ(-34296.3, calculate_mah(-12345678, 10000)); | ||
EXPECT_FLOAT_EQ(-2.778e-10, calculate_mah(-0.000001, 1000)); | ||
EXPECT_FLOAT_EQ(-2.778e-07, calculate_mah(-1, 1)); | ||
} | ||
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TEST(AP_BATTMONITOR_ACCURACY, test_float_accuracy) | ||
{ | ||
/* Test for loss of accuracy */ | ||
EXPECT_FLOAT_EQ(calculate_mah(100, 1), calculate_mah_with_double_cast(100, 1)); | ||
EXPECT_FLOAT_EQ(calculate_mah(-1, 1), calculate_mah_with_double_cast(-1, 1)); | ||
EXPECT_FLOAT_EQ(calculate_mah(0.0000000001f, 1), calculate_mah_with_double_cast(0.0000000001f, 1)); | ||
EXPECT_FLOAT_EQ(calculate_mah(1234.123456789, 1), calculate_mah_with_double_cast(1234.123456789, 1)); | ||
EXPECT_FLOAT_EQ(calculate_mah(-1234.123456789, 1), calculate_mah_with_double_cast(-1234.123456789, 1)); | ||
} | ||
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AP_GTEST_MAIN() |
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#!/usr/bin/env python | ||
# encoding: utf-8 | ||
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def build(bld): | ||
bld.ap_find_tests( | ||
use='ap', | ||
) |