Skip to content

Flight axis override test + idiot-proof mag alignment handling for FCs without a mag #2463

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
sensei-hacker merged 2 commits into from
Dec 12, 2025
Merged

Flight axis override test + idiot-proof mag alignment handling for FCs without a mag #2463

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
61c8ab1
flight axis tests: Fix bot review comments re test counter logic and mag
sensei-hacker Dec 7, 2025
17e7ce6
Fix broken flight axis override tests
sensei-hacker Dec 7, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 6 additions & 4 deletions js/transpiler/transpiler/tests/test_flight_axis_override.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
*/

import { Transpiler } from '../index.js';
import { Decompiler } from '../decompiler.js';

function testFlightAxisOverride() {
console.log('Testing Flight Axis Override...\n');
Expand Down Expand Up @@ -45,7 +46,7 @@ if (flight.heading < 180) {
code: `
const { flight, override } = inav;

if (flight.armed) {
if (flight.isArmed) {
override.flightAxis.roll.angle = 30;
override.flightAxis.pitch.angle = -15;
override.flightAxis.yaw.rate = 50;
Expand Down Expand Up @@ -77,16 +78,17 @@ if (flight.armed) {
});

// Test decompilation
const decompiled = transpiler.decompile(logicConditions);
const decompiler = new Decompiler();
const decompiled = decompiler.decompile(logicConditions);
if (decompiled.success) {
console.log('✓ Decompilation successful');
console.log('Decompiled code:');
console.log(decompiled.code);
} else {
console.log('✗ Decompilation failed:', decompiled.errors);
console.log('✗ Decompilation failed:', decompiled.error || decompiled.errors);
}
} else {
console.log('✗ Compilation failed:', result.errors);
console.log('✗ Compilation failed:', result.error || result.errors);
}
} catch (error) {
console.log('✗ Error:', error.message);
Expand Down
112 changes: 84 additions & 28 deletions js/transpiler/transpiler/tests/test_override_regressions.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ let passed = 0;
let failed = 0;

// Test 1: Basic throttle override still works
passed += runTest('throttle override compiles', () => {
if (runTest('throttle override compiles', () => {
const code = `
const { flight, override } = inav;
if (flight.isArmed) {
Expand All @@ -51,10 +51,14 @@ if (flight.isArmed) {
}
assertEquals(result.success, true, 'Compilation should succeed');
assertContains(result.commands.join(' '), '29', 'Should contain operation 29 (OVERRIDE_THROTTLE)');
});
})) {
passed++;
} else {
failed++;
}

// Test 2: VTX override with nested object still works
passed += runTest('vtx.power override compiles', () => {
if (runTest('vtx.power override compiles', () => {
const code = `
const { flight, override } = inav;
if (flight.homeDistance > 100) {
Expand All @@ -67,10 +71,14 @@ if (flight.homeDistance > 100) {
}
assertEquals(result.success, true, 'Compilation should succeed');
assertContains(result.commands.join(' '), '25', 'Should contain operation 25 (SET_VTX_POWER_LEVEL)');
});
})) {
passed++;
} else {
failed++;
}

// Test 3: VTX band override
passed += runTest('vtx.band override compiles', () => {
if (runTest('vtx.band override compiles', () => {
const code = `
const { override } = inav;
override.vtx.band = 2;
Expand All @@ -81,10 +89,14 @@ override.vtx.band = 2;
throw new Error(`Compilation failed: ${result.error}`);
}
assertContains(result.commands.join(' '), '30', 'Should contain operation 30 (SET_VTX_BAND)');
});
})) {
passed++;
} else {
failed++;
}

// Test 4: VTX channel override
passed += runTest('vtx.channel override compiles', () => {
if (runTest('vtx.channel override compiles', () => {
const code = `
const { override } = inav;
override.vtx.channel = 5;
Expand All @@ -95,10 +107,14 @@ override.vtx.channel = 5;
throw new Error(`Compilation failed: ${result.error}`);
}
assertContains(result.commands.join(' '), '31', 'Should contain operation 31 (SET_VTX_CHANNEL)');
});
})) {
passed++;
} else {
failed++;
}

// Test 5: Throttle scale override
passed += runTest('throttleScale override compiles', () => {
if (runTest('throttleScale override compiles', () => {
const code = `
const { override } = inav;
override.throttleScale = 75;
Expand All @@ -109,10 +125,14 @@ override.throttleScale = 75;
throw new Error(`Compilation failed: ${result.error}`);
}
assertContains(result.commands.join(' '), '23', 'Should contain operation 23 (OVERRIDE_THROTTLE_SCALE)');
});
})) {
passed++;
} else {
failed++;
}

// Test 6: Arm safety override
passed += runTest('armSafety override compiles', () => {
if (runTest('armSafety override compiles', () => {
const code = `
const { override } = inav;
override.armSafety = true;
Expand All @@ -123,10 +143,14 @@ override.armSafety = true;
throw new Error(`Compilation failed: ${result.error}`);
}
assertContains(result.commands.join(' '), '22', 'Should contain operation 22 (OVERRIDE_ARMING_SAFETY)');
});
})) {
passed++;
} else {
failed++;
}

// Test 7: OSD layout override
passed += runTest('osdLayout override compiles', () => {
if (runTest('osdLayout override compiles', () => {
const code = `
const { override } = inav;
override.osdLayout = 2;
Expand All @@ -137,10 +161,14 @@ override.osdLayout = 2;
throw new Error(`Compilation failed: ${result.error}`);
}
assertContains(result.commands.join(' '), '32', 'Should contain operation 32 (SET_OSD_LAYOUT)');
});
})) {
passed++;
} else {
failed++;
}

// Test 8: Loiter radius override
passed += runTest('loiterRadius override compiles', () => {
if (runTest('loiterRadius override compiles', () => {
const code = `
const { override } = inav;
override.loiterRadius = 5000;
Expand All @@ -151,10 +179,14 @@ override.loiterRadius = 5000;
throw new Error(`Compilation failed: ${result.error}`);
}
assertContains(result.commands.join(' '), '41', 'Should contain operation 41 (LOITER_OVERRIDE)');
});
})) {
passed++;
} else {
failed++;
}

// Test 9: Min ground speed override
passed += runTest('minGroundSpeed override compiles', () => {
if (runTest('minGroundSpeed override compiles', () => {
const code = `
const { override } = inav;
override.minGroundSpeed = 10;
Expand All @@ -165,10 +197,14 @@ override.minGroundSpeed = 10;
throw new Error(`Compilation failed: ${result.error}`);
}
assertContains(result.commands.join(' '), '56', 'Should contain operation 56 (OVERRIDE_MIN_GROUND_SPEED)');
});
})) {
passed++;
} else {
failed++;
}

// Test 10: Multiple overrides in one block
passed += runTest('multiple overrides in same block', () => {
if (runTest('multiple overrides in same block', () => {
const code = `
const { flight, override } = inav;
if (flight.isArmed) {
Expand All @@ -182,10 +218,14 @@ if (flight.isArmed) {
}
assertContains(result.commands.join(' '), '29', 'Should contain OVERRIDE_THROTTLE');
assertContains(result.commands.join(' '), '25', 'Should contain SET_VTX_POWER_LEVEL');
});
})) {
passed++;
} else {
failed++;
}

// Test 11: Flight axis override doesn't break other overrides
passed += runTest('flight axis and regular overrides together', () => {
if (runTest('flight axis and regular overrides together', () => {
const code = `
const { flight, override } = inav;
if (flight.isArmed) {
Expand All @@ -201,21 +241,29 @@ if (flight.isArmed) {
assertContains(result.commands.join(' '), '45', 'Should contain FLIGHT_AXIS_ANGLE_OVERRIDE');
assertContains(result.commands.join(' '), '29', 'Should contain OVERRIDE_THROTTLE');
assertContains(result.commands.join(' '), '25', 'Should contain SET_VTX_POWER_LEVEL');
});
})) {
passed++;
} else {
failed++;
}

// Test 12: Invalid override target should fail gracefully
passed += runTest('invalid override target produces error', () => {
if (runTest('invalid override target produces error', () => {
const code = `
const { override } = inav;
override.invalidProperty = 100;
`;
const transpiler = new Transpiler();
const result = transpiler.transpile(code);
assertEquals(result.success, false, 'Compilation should fail');
});
})) {
passed++;
} else {
failed++;
}

// Test 13: Decompile existing overrides
passed += runTest('decompile throttle override', () => {
if (runTest('decompile throttle override', () => {
const decompiler = new Decompiler();
const lcs = [
{
Expand All @@ -234,10 +282,14 @@ passed += runTest('decompile throttle override', () => {
throw new Error(`Decompilation failed: ${result.error || JSON.stringify(result)}`);
}
assertContains(result.code, 'override.throttle', 'Should contain override.throttle');
});
})) {
passed++;
} else {
failed++;
}

// Test 14: Decompile VTX power
passed += runTest('decompile vtx.power override', () => {
if (runTest('decompile vtx.power override', () => {
const decompiler = new Decompiler();
const lcs = [
{
Expand All @@ -256,7 +308,11 @@ passed += runTest('decompile vtx.power override', () => {
throw new Error(`Decompilation failed: ${result.error || JSON.stringify(result)}`);
}
assertContains(result.code, 'override.vtx.power', 'Should contain override.vtx.power');
});
})) {
passed++;
} else {
failed++;
}

console.log('\n==================================================');
console.log(`📊 Test Results:`);
Expand Down
27 changes: 18 additions & 9 deletions tabs/magnetometer.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,29 +59,38 @@ TABS.magnetometer.initialize = function (callback) {
function (callback) {
mspHelper.getSetting("align_mag_roll").then(function (data) {
if (data == null) {
console.log("while settting align_mag_roll, data is null or undefined");
return;
console.warn("while setting align_mag_roll, data is null or undefined");
return Promise.resolve();
}
self.alignmentConfig.roll = parseInt(data.value, 10) / 10;
}).then(callback)
}).then(callback).catch(err => {
console.error('Failed to get align_mag_roll:', err);
callback();
});
},
function (callback) {
mspHelper.getSetting("align_mag_pitch").then(function (data) {
if (data == null) {
console.log("while settting align_mag_pitch, data is null or undefined");
return;
console.warn("while setting align_mag_pitch, data is null or undefined");
return Promise.resolve();
}
self.alignmentConfig.pitch = parseInt(data.value, 10) / 10;
}).then(callback)
}).then(callback).catch(err => {
console.error('Failed to get align_mag_pitch:', err);
callback();
});
},
function (callback) {
mspHelper.getSetting("align_mag_yaw").then(function (data) {
if (data == null) {
console.log("while settting align_mag_yaw, data is null or undefined");
return;
console.warn("while setting align_mag_yaw, data is null or undefined");
return Promise.resolve();
}
self.alignmentConfig.yaw = parseInt(data.value, 10) / 10;
}).then(callback)
}).then(callback).catch(err => {
console.error('Failed to get align_mag_yaw:', err);
callback();
});
}
];

Expand Down