fix spelling and make unit tests more readable

Author: JMoore5353

include/command_manager.h

@@ -201,18 +201,18 @@ class CommandManager : public ParamListenerInterface
 
   /**
    * @brief Checks which channels are overridden
-   * @details There are many reasons that a channel could be overriden. These reasons include:
+   * @details There are many reasons that a channel could be overridden. These reasons include:
    *  - A stick is deflected
    *  - The commanded throttle is less than the RC throttle, and the MIN_THROTTLE parameter is set
    *  - The attitude or throttle override switch is flipped
    *  - The onboard computer has not sent any commands recently
    * The returned bitfield indicates which reasons have caused an override.
    * By anding with a constant such as X_OVERRIDDEN, you can check if a specific channel is overridden.
-   * @return A bitfield, with overriden reasons indicated
+   * @return A bitfield, with overridden reasons indicated
    */
   uint16_t determine_override_status();
-  uint16_t check_if_attitude_channel_is_overriden_by_rc(MuxChannel channel);
-  uint16_t check_if_throttle_channel_is_overriden_by_rc();
+  uint16_t check_if_attitude_channel_is_overridden_by_rc(MuxChannel channel);
+  uint16_t check_if_throttle_channel_is_overridden_by_rc();
   void do_muxing(uint16_t rc_override);
   void do_channel_muxing(MuxChannel channel, uint16_t rc_override);
 
@@ -225,15 +225,15 @@ class CommandManager : public ParamListenerInterface
   bool run();
   /**
    * @brief Checks which channels are overridden, and why
-   * @details There are many reasons that a channel could be overriden. These reasons include:
+   * @details There are many reasons that a channel could be overridden. These reasons include:
    *  - A stick is deflected
    *  - The commanded throttle is less than the RC throttle, and the MIN_THROTTLE parameter is set
    *  - The attitude or throttle override switch is flipped
    *  - The onboard computer has not sent any commands recently
    * The returned bitfield indicates which reasons have caused an override.
    * Because c++ can use integers as booleans, this function can be treated as providing a boolean
    * This value is updated if a new RC command is available
-   * @return A bitfield, with overriden reasons indicated
+   * @return A bitfield, with overridden reasons indicated
    */
   uint16_t get_rc_override() const;
   bool offboard_control_active();

src/command_manager.cpp

@@ -203,15 +203,15 @@ uint16_t CommandManager::determine_override_status()
     rc_override |= OVERRIDE_THR_SWITCH;
   }
 
-  rc_override |= check_if_attitude_channel_is_overriden_by_rc(MUX_QX);
-  rc_override |= check_if_attitude_channel_is_overriden_by_rc(MUX_QY);
-  rc_override |= check_if_attitude_channel_is_overriden_by_rc(MUX_QZ);
-  rc_override |= check_if_throttle_channel_is_overriden_by_rc();
+  rc_override |= check_if_attitude_channel_is_overridden_by_rc(MUX_QX);
+  rc_override |= check_if_attitude_channel_is_overridden_by_rc(MUX_QY);
+  rc_override |= check_if_attitude_channel_is_overridden_by_rc(MUX_QZ);
+  rc_override |= check_if_throttle_channel_is_overridden_by_rc();
 
   return rc_override;
 }
 
-uint16_t CommandManager::check_if_attitude_channel_is_overriden_by_rc(MuxChannel channel)
+uint16_t CommandManager::check_if_attitude_channel_is_overridden_by_rc(MuxChannel channel)
 {
   uint16_t rc_overrides{0};
   if (stick_deviated(channel)) {
@@ -223,7 +223,7 @@ uint16_t CommandManager::check_if_attitude_channel_is_overriden_by_rc(MuxChannel
   return rc_overrides;
 }
 
-uint16_t CommandManager::check_if_throttle_channel_is_overriden_by_rc()
+uint16_t CommandManager::check_if_throttle_channel_is_overridden_by_rc()
 {
   MuxChannel selected_channel;
   // Determine which channel to check based on which axis the RC F channel corresponds to

test/command_manager_test.cpp

@@ -445,17 +445,15 @@ TEST_F(CommandManagerTest, OffboardCommandMuxLag)
 
   control_t output = rf.command_manager_.combined_control();
   EXPECT_CLOSE(output.Qx.value, -0.5 * rf.params_.get_param_float(PARAM_RC_MAX_ROLL));
-  EXPECT_EQ(rf.command_manager_.get_rc_override(),
-            rf.command_manager_.get_rc_override() | CommandManager::OVERRIDE_X);
+  EXPECT_NE(rf.command_manager_.get_rc_override & CommandManager::OVERRIDE_OFFBOARD_X_INACTIVE, 0);
 
   rc_values[0] = 1500; // return stick to center
 
   stepFirmware(500000);
   setOffboard(offboard_command);
   output = rf.command_manager_.combined_control();
   EXPECT_CLOSE(output.Qx.value, 0.0); // lag
-  EXPECT_EQ(rf.command_manager_.get_rc_override(),
-            rf.command_manager_.get_rc_override() | CommandManager::OVERRIDE_X);
+  EXPECT_NE(rf.command_manager_.get_rc_override & CommandManager::OVERRIDE_OFFBOARD_X_INACTIVE, 0);
 
   stepFirmware(600000);
   setOffboard(offboard_command);
@@ -466,8 +464,7 @@ TEST_F(CommandManagerTest, OffboardCommandMuxLag)
   stepFirmware(20000);
   output = rf.command_manager_.combined_control();
   EXPECT_CLOSE(output.Qx.value, OFFBOARD_QX);
-  EXPECT_NE(rf.command_manager_.get_rc_override(),
-            rf.command_manager_.get_rc_override() | CommandManager::OVERRIDE_X);
+  EXPECT_NE(rf.command_manager_.get_rc_override & CommandManager::OVERRIDE_OFFBOARD_X_INACTIVE, 0);
 }
 
 TEST_F(CommandManagerTest, StaleOffboardCommand)
@@ -481,8 +478,7 @@ TEST_F(CommandManagerTest, StaleOffboardCommand)
 
   control_t output = rf.command_manager_.combined_control();
   EXPECT_CLOSE(output.Qx.value, 0.0);
-  EXPECT_EQ(rf.command_manager_.get_rc_override(),
-            rf.command_manager_.get_rc_override() | CommandManager::OVERRIDE_OFFBOARD_X_INACTIVE);
+  EXPECT_NE(rf.command_manager_.get_rc_override & CommandManager::OVERRIDE_OFFBOARD_X_INACTIVE, 0);
 }
 
 TEST_F(CommandManagerTest, PartialMux)
@@ -499,8 +495,7 @@ TEST_F(CommandManagerTest, PartialMux)
   EXPECT_CLOSE(output.Fx.value, 0.0);
   EXPECT_CLOSE(output.Fy.value, 0.0);
   EXPECT_CLOSE(output.Fz.value, 0.0);
-  EXPECT_EQ(rf.command_manager_.get_rc_override(),
-            rf.command_manager_.get_rc_override() | CommandManager::OVERRIDE_OFFBOARD_X_INACTIVE);
+  EXPECT_NE(rf.command_manager_.get_rc_override & CommandManager::OVERRIDE_OFFBOARD_X_INACTIVE, 0);
 }
 
 TEST_F(CommandManagerTest, MixedTypes)