03 August 2014
Probably not the most exciting of tests but it was a starting point and it's best to start testing the little things first; they almost always have a bigger impact on the code than we tend to think.
I tried to follow some my own guidelines in a prior post GTest and GMock framework
I noticed, while not critical, that the HIL code does not handle for timer roll-over (will occur every 71 minutes, I think). In simulation, it's possible that flights can run for a long period of time. Real hardware with flight times of < 15min would get a hardware reset when the battery gets removed and therefore reset the timer.
I added a basic delta_u32 function to AP_Math and accompanying unit tests to handle timer roll-over. Without a rollover check, if one were to occur, the gyro and accel health will intermittently flash to a "false" till the next refresh adjusts for the roll-over.
This probably impacts long flight simulations than real world.