Testing cleanup from Daniel Agar

CMakeLists.txt

@@ -246,7 +246,7 @@ endforeach()
 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
+px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")

Makefile

@@ -174,9 +174,6 @@ posix_sitl_default:
 posix_sitl_lpe:
 	$(call cmake-build,$@)
 
-posix_sitl_test:
-	$(call cmake-build,$@)
-
 posix_sitl_replay:
 	$(call cmake-build,$@)
 
@@ -271,14 +268,14 @@ checks_uavcan: \
 	check_px4fmu-v4_default_and_uavcan
 
 checks_sitls: \
-	check_posix_sitl_default \
-	check_posix_sitl_test \
+	check_posix_sitl_default
 
 checks_last: \
-	check_unittest \
+	check_tests \
 	check_format \
 
-check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_sitls checks_last
+check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_last
+quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_tests check_format
 
 check_format:
 	$(call colorecho,"Checking formatting with astyle")
@@ -300,15 +297,18 @@ ifeq ($(VECTORCONTROL),1)
 	@rm -rf ROMFS/px4fmu_common/uavcan
 endif
 
-unittest: posix_sitl_test
+unittest: posix_sitl_default
 	$(call cmake-build-other,unittest, ../unittests)
 	@(cd build_unittest && ctest -j2 --output-on-failure)
 
-tests: posix_sitl_test unittest
-
-test_onboard_sitl:
-	@HEADLESS=1 make posix_sitl_test gazebo_iris
+run_tests_posix: posix_sitl_default
+	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
+	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
+	@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
+	@(cd build_posix_sitl_default/src/firmware/posix && ./mainapp -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
+	@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)
 
+tests: check_unittest run_tests_posix
 
 # QGroundControl flashable firmware
 qgc_firmware: \

ROMFS/px4fmu_test/init.d/rcS

@@ -111,87 +111,22 @@ fi
 
 sh /etc/init.d/rc.sensors
 
-# Check for flow sensor
-if px4flow start
-then
-fi
-
-if ll40ls start
-then
-fi
+ver all
 
 #
 # Run unit tests at board boot, reporting failure as needed.
 # Add new unit tests using the same pattern as below.
 #
 
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[mavlink_tests]             STARTING TEST"
-if mavlink_tests
-then
-	echo "[mavlink_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
-	echo "[mavlink_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[commander_tests]             STARTING TEST"
-if commander_tests
-then
-	echo "[commander_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
-	echo "[commander_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[controllib_test]             STARTING TEST"
-if controllib_test
-then
-	echo "[controllib_test]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} controllib_tests"
-	echo "[controllib_test]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[uorb_tests]             STARTING TEST"
-if uorb_tests
-then
-	echo "[uorb_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
-	echo "[uorb_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-
 if tests all
-then
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} system_tests"
-fi
-
-if [ $unit_test_failure == 0 ]
 then
 	echo
 	echo "All Unit Tests PASSED"
 	rgbled rgb 20 255 20
 else
 	echo
-	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
+	echo "Some Unit Tests FAILED"
 	rgbled rgb 255 20 20
 fi
 
-ver all
-
 free

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -53,22 +53,34 @@ set(config_module_list
 	# System commands
 	#
 	systemcmds/bl_update
+	systemcmds/config
+	systemcmds/dumpfile
+	#systemcmds/esc_calib
 	systemcmds/mixer
+	#systemcmds/motor_ramp
+	systemcmds/mtd
+	systemcmds/nshterm
 	systemcmds/param
 	systemcmds/perf
 	systemcmds/pwm
-	#systemcmds/esc_calib
 	systemcmds/reboot
-	#systemcmds/topic_listener
+	#systemcmds/sd_bench
 	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/mtd
-	systemcmds/dumpfile
+	#systemcmds/topic_listener
 	systemcmds/ver
-	#systemcmds/sd_bench
+
+	#
+	# Testing
+	#
+	#drivers/sf0x/sf0x_tests
+	#drivers/test_ppm
+	#lib/rc/rc_tests
+	#modules/commander/commander_tests
+	#modules/controllib_test
+	#modules/mavlink/mavlink_tests
+	#modules/unit_test
+	#modules/uORB/uORB_tests
 	#systemcmds/tests
-	#systemcmds/motor_ramp
 
 	#
 	# General system control

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -53,32 +53,34 @@ set(config_module_list
 	# System commands
 	#
 	systemcmds/bl_update
+	systemcmds/config
+	systemcmds/dumpfile
+	#systemcmds/esc_calib
 	systemcmds/mixer
+	systemcmds/motor_ramp
+	systemcmds/mtd
+	systemcmds/nshterm
 	systemcmds/param
 	systemcmds/perf
 	systemcmds/pwm
-	systemcmds/esc_calib
 	systemcmds/reboot
-	#systemcmds/topic_listener
+	#systemcmds/sd_bench
 	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/mtd
-	systemcmds/dumpfile
+	#systemcmds/topic_listener
 	systemcmds/ver
-	#systemcmds/sd_bench
-	systemcmds/tests
-	systemcmds/motor_ramp
 
 	#
 	# Testing
 	#
+	drivers/sf0x/sf0x_tests
 	drivers/test_ppm
+	#lib/rc/rc_tests
 	modules/commander/commander_tests
 	modules/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
 	modules/uORB/uORB_tests
+	systemcmds/tests
 
 	#
 	# General system control
@@ -95,9 +97,10 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
+	#modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/ekf2
 
 	#
 	# Vehicle Control

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -69,9 +69,20 @@ set(config_module_list
 	systemcmds/dumpfile
 	systemcmds/ver
 	systemcmds/sd_bench
-	systemcmds/tests
 	systemcmds/motor_ramp
 
+	#
+	# Testing
+	#
+	drivers/sf0x/sf0x_tests
+	drivers/test_ppm
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
 	#
 	# General system control
 	#

cmake/configs/posix_sitl_default.cmake

@@ -70,6 +70,7 @@ set(config_module_list
 	lib/launchdetection
 	lib/mathlib
 	lib/mathlib/math/filter
+	lib/rc
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/terrain_estimation
@@ -79,9 +80,11 @@ set(config_module_list
 	#
 	# Testing
 	#
+	drivers/sf0x/sf0x_tests
+	lib/rc/rc_tests
 	modules/commander/commander_tests
 	modules/controllib_test
-	#modules/mavlink/mavlink_tests
+	#modules/mavlink/mavlink_tests #TODO: fix mavlink_tests
 	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests

cmake/configs/posix_sitl_test.cmake

-include(posix/px4_impl_posix)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
-
-set(config_module_list
-	drivers/boards/sitl
-	drivers/device
-	drivers/gps
-	drivers/pwm_out_sim
-
-	platforms/common
-	platforms/posix/drivers/accelsim
-	platforms/posix/drivers/adcsim
-	platforms/posix/drivers/airspeedsim
-	platforms/posix/drivers/barosim
-	platforms/posix/drivers/gpssim
-	platforms/posix/drivers/gyrosim
-	platforms/posix/drivers/ledsim
-	platforms/posix/drivers/rgbledsim
-	platforms/posix/drivers/tonealrmsim
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-
-	systemcmds/esc_calib
-	systemcmds/mixer
-	systemcmds/param
-	systemcmds/perf
-	systemcmds/reboot
-	systemcmds/sd_bench
-	systemcmds/topic_listener
-	systemcmds/ver
-
-	modules/attitude_estimator_ekf
-	modules/attitude_estimator_q
-	modules/commander
-	modules/dataman
-	modules/ekf2
-	modules/ekf_att_pos_estimator
-	modules/fw_att_control
-	modules/fw_pos_control_l1
-	modules/land_detector
-	modules/logger
-	modules/mavlink
-	modules/mc_att_control
-	modules/mc_att_control_multiplatform
-	modules/mc_pos_control
-	modules/mc_pos_control_multiplatform
-	modules/navigator
-	modules/param
-	modules/position_estimator_inav
-	modules/local_position_estimator
-	modules/sdlog2
-	modules/sensors
-	modules/simulator
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/vtol_att_control
-
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/external_lgpl
-	lib/geo
-	lib/geo_lookup
-	lib/launchdetection
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/terrain_estimation
-
-	examples/px4_simple_app
-
-	#
-	# Testing
-	#
-	modules/commander/commander_tests
-	modules/controllib_test
-	#modules/mavlink/mavlink_tests
-	modules/unit_test
-	modules/uORB/uORB_tests
-	systemcmds/tests
-
-	)
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_sitl_rcS
-	posix-configs/SITL/init/rcS_test
-	CACHE FILEPATH "init script for sitl"
-	)
-
-set(config_sitl_viewer
-	jmavsim
-	CACHE STRING "viewer for sitl"
-	)
-set_property(CACHE config_sitl_viewer
-	PROPERTY STRINGS "jmavsim;none")
-
-set(config_sitl_debugger
-	disable
-	CACHE STRING "debugger for sitl"
-	)
-set_property(CACHE config_sitl_debugger
-	PROPERTY STRINGS "disable;gdb;lldb")

posix-configs/SITL/init/rcS_test_gazebo_iris

-uorb start
-param load
-
-dataman start
-
-simulator start -s
-rgbledsim start
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-adcsim start
-gpssim start
-pwm_out_sim mode_pwm
-sleep 1
-sensors start
-
-commander_tests
-controllib_test
-uorb_tests
-tests all
-
-ver all
-
-shutdown

posix-configs/SITL/init/rcS_test_jmavsim_iris

-uorb start
-param load
-
-dataman start
-
-simulator start -s
-rgbledsim start
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-adcsim start
-gpssim start
-pwm_out_sim mode_pwm
-sleep 1
-sensors start
-
-commander_tests
-controllib_test
-uorb_tests
-tests all
-
-ver all
-
-shutdown

posix-configs/SITL/init/rcS_tests

+uorb start
+param load
+param set SYS_RESTART_TYPE 0
+dataman start
+
+ver all
+
+sleep 1
+
+tests all
+
+shutdown

src/drivers/sf0x/sf0x_tests/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__sf0x__sf0x_tests
+	MAIN sf0x_tests
+	COMPILE_FLAGS
+	SRCS
+		SF0XTest.cpp
+		../sf0x_parser.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

unittests/sf0x_test.cpp → src/drivers/sf0x/sf0x_tests/SF0XTest.cpp

-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
+#include <unit_test/unit_test.h>
 
-#include <drivers/drv_hrt.h>
 #include <drivers/sf0x/sf0x_parser.h>
+
 #include <systemlib/err.h>
 
-#include "gtest/gtest.h"
+#include <stdio.h>
+#include <unistd.h>
+
+extern "C" __EXPORT int sf0x_tests_main(int argc, char *argv[]);
+
+class SF0XTest : public UnitTest
+{
+public:
+	virtual bool run_tests(void);
+
+private:
+	bool sf0xTest();
+};
+
+bool SF0XTest::run_tests(void)
+{
+	ut_run_test(sf0xTest);
+
+	return (_tests_failed == 0);
+}
 
-TEST(SF0XTest, SF0X)
+bool SF0XTest::sf0xTest(void)
 {
 	const char _LINE_MAX = 20;
-	char _linebuf[_LINE_MAX];
-	_linebuf[0] = '\0';
+	//char _linebuf[_LINE_MAX];
+	//_linebuf[0] = '\0';
 
 	const char *lines[] = {"0.01\r\n",
 			       "0.02\r\n",
@@ -39,7 +55,6 @@ TEST(SF0XTest, SF0X)
 	unsigned _parsebuf_index = 0;
 
 	for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) {
-
 		//printf("\n%s", _linebuf);
 
 		int parse_ret;
@@ -48,6 +63,19 @@ TEST(SF0XTest, SF0X)
 			parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
 
 			if (parse_ret == 0) {
+				if (l == 0) {
+					ut_test(dist_m - 0.010000f < 0.001f);
+
+				} else if (l == 1) {
+					ut_test(dist_m - 0.020000f < 0.001f);
+
+				} else if (l == 2) {
+					ut_test(dist_m - 0.030000f < 0.001f);
+
+				} else if (l == 3) {
+					ut_test(dist_m - 0.040000f < 0.001f);
+				}
+
 				//printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
 			}
 		}
@@ -56,5 +84,8 @@ TEST(SF0XTest, SF0X)
 
 	}
 
-	warnx("test finished");
+	return true;
 }
+
+ut_declare_test_c(sf0x_tests_main, SF0XTest)
+

src/lib/rc/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE lib__rc
 	COMPILE_FLAGS
 		-Os
+		-Wno-unused-result
 	SRCS
 		st24.c
 		sumd.c

src/lib/rc/rc_tests/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE lib__rc__rc_tests
+	MAIN rc_tests
+	COMPILE_FLAGS
+		-Wno-unused-result
+	SRCS
+		RCTest.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/lib/rc/rc_tests/RCTest.cpp

+#include <unit_test/unit_test.h>
+
+#include <systemlib/err.h>
+
+#include <stdio.h>
+#include <unistd.h>
+
+#include <drivers/drv_hrt.h>
+
+#define DSM_DEBUG
+#include <lib/rc/sbus.h>
+#include <lib/rc/dsm.h>
+#include <lib/rc/st24.h>
+#include <lib/rc/sumd.h>
+
+#if !defined(CONFIG_ARCH_BOARD_SITL)
+#define TEST_DATA_PATH "/fs/microsd"
+#else
+#define TEST_DATA_PATH "../../../../src/lib/rc/rc_tests/test_data/"
+#endif
+
+extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);
+
+class RCTest : public UnitTest
+{
+public:
+	virtual bool run_tests(void);
+
+private:
+	bool dsmTest();
+	bool sbus2Test();
+	bool st24Test();
+	bool sumdTest();
+};
+
+bool RCTest::run_tests(void)
+{
+	ut_run_test(dsmTest);
+	ut_run_test(sbus2Test);
+	ut_run_test(st24Test);
+	ut_run_test(sumdTest);
+
+	return (_tests_failed == 0);
+}
+
+bool RCTest::dsmTest(void)
+{
+
+	const char *filepath = TEST_DATA_PATH "dsm_x_data.txt";
+
+	FILE *fp;
+	fp = fopen(filepath, "rt");
+
+	ut_test(fp != nullptr);
+	//warnx("loading data from: %s", filepath);
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		char buf[200];
+		(void)fgets(buf, sizeof(buf), fp);
+	}
+
+	// Init the parser
+	uint8_t frame[20];
+	uint16_t rc_values[18];
+	uint16_t num_values;
+	bool dsm_11_bit;
+	unsigned dsm_frame_drops = 0;
+	uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
+
+	int rate_limiter = 0;
+	unsigned last_drop = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+
+		ut_test(ret > 0);
+
+		frame[0] = x;
+		unsigned len = 1;
+
+		// Pipe the data into the parser
+		bool result = dsm_parse(f * 1e6f, &frame[0], len, rc_values, &num_values,
+					&dsm_11_bit, &dsm_frame_drops, max_channels);
+
+		if (result) {
+			//warnx("decoded packet with %d channels and %s encoding:", num_values, (dsm_11_bit) ? "11 bit" : "10 bit");
+
+			for (unsigned i = 0; i < num_values; i++) {
+				//printf("chan #%u:\t%d\n", i, (int)rc_values[i]);
+			}
+		}
+
+		if (last_drop != (dsm_frame_drops)) {
+			//warnx("frame dropped, now #%d", (dsm_frame_drops));
+			last_drop = dsm_frame_drops;
+		}
+
+		rate_limiter++;
+	}
+
+	ut_test(ret == EOF);
+
+	return true;
+}
+
+bool RCTest::sbus2Test(void)
+{
+	const char *filepath = TEST_DATA_PATH "sbus2_r7008SB.txt";
+
+	FILE *fp;
+	fp = fopen(filepath, "rt");
+
+	ut_test(fp != nullptr);
+	//warnx("loading data from: %s", filepath);
+
+	// if (argc < 2)
+	// 	errx(1, "Need a filename for the input file");
+
+	//int byte_offset = 7;
+
+	// if (argc > 2) {
+	// 	char* end;
+	// 	byte_offset = strtol(argv[2],&end,10);
+	// }
+
+	//warnx("RUNNING TEST WITH BYTE OFFSET OF: %d", byte_offset);
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		char buf[200];
+		(void)fgets(buf, sizeof(buf), fp);
+	}
+
+	// Init the parser
+	uint8_t frame[SBUS_BUFFER_SIZE];
+	uint16_t rc_values[18];
+	uint16_t num_values;
+	unsigned sbus_frame_drops = 0;
+	unsigned sbus_frame_resets = 0;
+	bool sbus_failsafe;
+	bool sbus_frame_drop;
+	uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
+
+	int rate_limiter = 0;
+	unsigned last_drop = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+
+		ut_test(ret > 0);
+
+		frame[0] = x;
+		unsigned len = 1;
+
+		// Pipe the data into the parser
+		hrt_abstime now = hrt_absolute_time();
+
+		// if (rate_limiter % byte_offset == 0) {
+		bool result = sbus_parse(now, &frame[0], len, rc_values, &num_values,
+					 &sbus_failsafe, &sbus_frame_drop, &sbus_frame_drops, max_channels);
+
+		if (result) {
+			//warnx("decoded packet");
+		}
+
+		// }
+
+		if (last_drop != (sbus_frame_drops + sbus_frame_resets)) {
+			warnx("frame dropped, now #%d", (sbus_frame_drops + sbus_frame_resets));
+			last_drop = sbus_frame_drops + sbus_frame_resets;
+		}
+
+		rate_limiter++;
+	}
+
+	ut_test(ret == EOF);
+
+	return true;
+}
+
+bool RCTest::st24Test(void)
+{
+	const char *filepath = TEST_DATA_PATH "st24_data.txt";
+
+	//warnx("loading data from: %s", filepath);
+
+	FILE *fp;
+
+	fp = fopen(filepath, "rt");
+	ut_test(fp != nullptr);
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		char buf[200];
+		(void)fgets(buf, sizeof(buf), fp);
+	}
+
+	float last_time = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+		ut_test(ret > 0);
+
+		if (((f - last_time) * 1000 * 1000) > 3000) {
+			// warnx("FRAME RESET\n\n");
+		}
+
+		uint8_t b = static_cast<uint8_t>(x);
+
+		last_time = f;
+
+		// Pipe the data into the parser
+		//hrt_abstime now = hrt_absolute_time();
+
+		uint8_t rssi;
+		uint8_t rx_count;
+		uint16_t channel_count;
+		uint16_t channels[20];
+
+		if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
+			//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
+
+			for (unsigned i = 0; i < channel_count; i++) {
+				//int16_t val = channels[i];
+				//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
+			}
+		}
+	}
+
+	ut_test(ret == EOF);
+
+	return true;
+}
+
+bool RCTest::sumdTest(void)
+{
+	const char *filepath = TEST_DATA_PATH "sumd_data.txt";
+
+	//warnx("loading data from: %s", filepath);
+
+	FILE *fp;
+
+	fp = fopen(filepath, "rt");
+	ut_test(fp != nullptr);
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		char buf[200];
+		(void)fgets(buf, sizeof(buf), fp);
+	}
+
+	float last_time = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+		ut_test(ret > 0);
+
+		if (((f - last_time) * 1000 * 1000) > 3000) {
+			// warnx("FRAME RESET\n\n");
+		}
+
+		uint8_t b = static_cast<uint8_t>(x);
+
+		last_time = f;
+
+		// Pipe the data into the parser
+		//hrt_abstime now = hrt_absolute_time();
+
+		uint8_t rssi;
+		uint8_t rx_count;
+		uint16_t channel_count;
+		uint16_t channels[32];
+
+
+		if (!sumd_decode(b, &rssi, &rx_count, &channel_count, channels, 32)) {
+			//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
+
+			for (unsigned i = 0; i < channel_count; i++) {
+				//int16_t val = channels[i];
+				//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
+			}
+		}
+	}
+
+	ut_test(ret == EOF);
+
+	return true;
+}
+
+
+
+ut_declare_test_c(rc_tests_main, RCTest)
+