Update unit tests

.github/workflows/test-runner.yml

@@ -22,7 +22,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        tests: [apogee_detect, error_int, fin_calib, flash_appa, flight, fsm_appa, launch_detect, main, prelaunch, sensor_calibrate]
+        tests: [state_transition, error_int, fin_calib, flash_appa, flight, fsm_appa, main, prelaunch, sensor_calibrate]
     steps:
       - run: echo "🎉 The job was automatically triggered by a ${{ github.event_name }} event."
       - run: echo "🐧 This job is now running on a ${{ runner.os }} server hosted by GitHub!"
@@ -62,6 +62,51 @@ jobs:
       - name: Output artifact ID
         run: echo 'Artifact ID is ${{ steps.promote-results.outputs.artifact-id }}'
       - run: echo "🍏 This job's status is ${{ job.status }}."
+
+  mod-unit-tests:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        tests: [commands, debug_sdr, error_sdr, mahony, math_sdr, sensor, telemetry]
+    steps:
+      - run: echo "🎉 The job was automatically triggered by a ${{ github.event_name }} event."
+      - run: echo "🐧 This job is now running on a ${{ runner.os }} server hosted by GitHub!"
+      - run: echo "🔎 The name of your branch is ${{ github.ref }}."
+      - name: Install test environment
+        run: |
+          python -m pip install --upgrade pip
+          pip install gcovr
+      - name: Check out FCF repository code
+        uses: actions/checkout@v6
+        with:
+          ref: ${{ github.event.inputs.fw-branch || github.ref }}
+          submodules: 'recursive'
+      - run: echo "💡 The repository has been cloned to the runner."
+      - run: echo "🖥️ The workflow is now ready to test your code on the runner."
+      - name: List files in the repository
+        run: |
+          ls ${{ github.workspace }}
+
+      - name: Build and run the appa/${{ matrix.tests }} tests
+        run: |
+          cd ${{ github.workspace }}/mod/_test/mod/${{ matrix.tests }}
+          make test
+      - name: Check for fails.
+        run: |
+          cd ${{ github.workspace }}/mod/_test/mod/${{ matrix.tests }}
+          tail -3 results.txt | grep "Result: PASS"
+      - name: Consolidate ${{ matrix.tests }} artifacts
+        run: mv ${{ github.workspace }}/mod/_test/mod/${{ matrix.tests }}/results.txt ${{ github.workspace }}/mod/_test/mod/${{ matrix.tests }}/coverage/results.txt
+      - name: "Promote Artifacts"
+        uses: actions/upload-artifact@v6
+        id: promote-results
+        with:
+          name: ${{ matrix.tests }}-artifacts
+          path: ${{ github.workspace }}/mod/_test/mod/${{ matrix.tests }}/coverage/
+          include-hidden-files: true
+      - name: Output artifact ID
+        run: echo 'Artifact ID is ${{ steps.promote-results.outputs.artifact-id }}'
+      - run: echo "🍏 This job's status is ${{ job.status }}."
 
   driver-unit-tests:
     runs-on: ubuntu-latest
@@ -207,7 +252,7 @@ jobs:
   # Take coverage reports and merge them
   consolidate-coverage:
     runs-on: ubuntu-latest
-    needs: [app-unit-tests, driver-unit-tests, emulator-tests]
+    needs: [app-unit-tests, driver-unit-tests, mod-unit-tests, emulator-tests]
     steps:
       - name: Install gcovr
         run: |

app/rev2/flight.c

@@ -219,8 +219,9 @@ if ( *sensor_status != SENSOR_OK )
 ------------------------------------------------------------------------------*/
 /* store in a local so that future improvements like a coast phase can use it */
 fc_state = get_fc_state();
-if ( ( fc_state == FC_STATE_ASCENT )
-  && ( preset_data.config_settings.enabled_features & ACTIVE_ROLL_CONTROL_ENABLED ) )
+if ( ( fc_state == FC_STATE_ASCENT 
+    || fc_state == FC_STATE_COAST )
+      && ( preset_data.config_settings.enabled_features & ACTIVE_ROLL_CONTROL_ENABLED ) )
     {
     pid_loop();
     }
@@ -515,11 +516,20 @@ switch( get_fc_state() )
     case FC_STATE_LANDED: /* intentional fallthrough; not yet implemented */
         /* no applicable transitions; do nothing */
         break;
+    /**
+      * GCOVR_EXCL_START
+      *
+      * This branch is tested, but gcovr doesn't see these statements in
+      * release mode so it reports a coverage hole on the emulator.
+      */
     default:
         #ifdef DEBUG /* for caution, throw error in debug mode only */
         error_fail_fast( ERROR_INVALID_STATE_ERROR );
         #endif
         break;
+     /**
+      * GCOVR_EXCL_STOP
+      */
     }
 
 } /* update_state */
@@ -557,10 +567,19 @@ switch( get_fc_state() )
             led_set_color( LED_PURPLE );
             }
         break;
+    /**
+      * GCOVR_EXCL_START
+      *
+      * This branch is tested, but gcovr doesn't see these statements in
+      * release mode so it reports a coverage hole on the emulator.
+      */
     default:
         #ifdef DEBUG /* for caution, throw error in debug mode only */
         error_fail_fast( ERROR_INVALID_STATE_ERROR );
         #endif
         break;
+    /**
+      * GCOVR_EXCL_STOP
+      */
     }
 } /* set_state_color */

app/rev2/main.c

@@ -279,7 +279,12 @@ if ( servo_status != SERVO_OK )
 	error_fail_fast( ERROR_SERVO_INIT_ERROR );
 	}
 
-sensor_init( &preset_data );
+/* Sensor */
+sensor_status = sensor_init( &preset_data );
+if ( sensor_status != SENSOR_OK )
+	{
+	error_fail_fast( ERROR_SENSOR_CMD_ERROR );
+	}
 
 
 /*------------------------------------------------------------------------------
@@ -337,6 +342,7 @@ return -1;
 * 		Handle debug console outputs.                                 		   *
 *                                                                              *
 *******************************************************************************/
+
 static void debug_writer
 	(
 	void* msg,