def testDualServoMargin(self):
control_limits = flap_limits.FlapsToServos(
flap_limits.GetControlLimits())
servo_limits = flap_limits.GetAvionicsServoLimits()
half_degree = math.radians(0.5)
# Shrink servo limits by half a degree on each side.
for servo in ['E1', 'E2', 'R1', 'R2']:
servo_limits[servo] = (servo_limits[servo][0] + half_degree,
servo_limits[servo][1] - half_degree)
self._AssertLimitsContain(servo_limits, control_limits)
def testFlapsServosConversion(self):
all_servo_limits = flap_limits.GetServoLimits()
all_flap_limits = flap_limits.GetFlapLimits()
for servo, flap in zip(all_servo_limits, all_flap_limits):
# Verify names match.
self.assertEqual(servo[0], flap[0])
self._AssertLimitsEqual(servo[1],
flap_limits.FlapsToServos(flap[1]))
self._AssertLimitsEqual(flap_limits.ServosToFlaps(servo[1]),
flap[1])
def __init__(self, mode, **widget_kwargs):
super(StarboardPosChart, self).__init__(mode,
'Star Ail Pos [°]',
['A5', 'A7', 'A8'],
show_cmd=True,
**widget_kwargs)
self._SetLimits(
{
self._ObservationLabel(n):
(check_range.Interval(numpy.rad2deg(
flap_limits.FlapsToServos(
flap_limits.GetControlCrosswindLimits())[n]).tolist(),
inclusiveness=(False, False)),
check_range.AllInclusiveRange())
for n in ['A7', 'A8']
}, [
control_types.kFlightModeCrosswindNormal,
control_types.kFlightModeCrosswindPrepTransOut
])
def __init__(self, mode, **widget_kwargs):
nodes = ['E1', 'E2']
super(ElePosChart, self).__init__(mode,
'Ele Pos [°]',
nodes,
show_cmd=True,
**widget_kwargs)
limits = flap_limits.FlapsToServos(
flap_limits.GetControlCrosswindLimits())['E1']
limits = numpy.rad2deg(limits).tolist()
self._SetLimits(
{
self._ObservationLabel(n):
(check_range.Interval(limits, inclusiveness=(False, False)),
check_range.AllInclusiveRange())
for n in nodes
}, [
control_types.kFlightModeCrosswindNormal,
control_types.kFlightModeCrosswindPrepTransOut
])
def testControlLimitsInsideSimLimits(self):
self._AssertLimitsContain(
flap_limits.GetSimLimits(),
flap_limits.FlapsToServos(flap_limits.GetControlLimits()))