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Cleanup code // add unittestst for iterm windup

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borisbstyle 2018-09-10 12:27:53 +02:00
parent 261f8d679a
commit 00dbaf9fa7
5 changed files with 32 additions and 21 deletions
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32
src/test/unit/pid_unittest.cc
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@ -67,7 +67,6 @@ extern "C" {
float getThrottlePIDAttenuation(void) { return simulatedThrottlePIDAttenuation; }
float getMotorMixRange(void) { return simulatedMotorMixRange; }
float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
bool mixerIsOutputSaturated(int, float) { return simulateMixerSaturated; }
float getRcDeflectionAbs(int axis) { return ABS(simulatedRcDeflection[axis]); }
void systemBeep(bool) { }
bool gyroOverflowDetected(void) { return false; }
@ -431,14 +430,41 @@ TEST(pidControllerTest, testMixerSaturation) {
// Test full stick response
setStickPosition(FD_ROLL, 1.0f);
setStickPosition(FD_PITCH, -1.0f);
simulateMixerSaturated = true;
setStickPosition(FD_YAW, 1.0f);
simulatedMotorMixRange = 2.0f;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// Expect no iterm accumulation
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
// Test itermWindup limit
// First store values without exceeding iterm windup limit
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
setStickPosition(FD_ROLL, 0.1f);
setStickPosition(FD_PITCH, -0.1f);
setStickPosition(FD_YAW, 0.1f);
simulatedMotorMixRange = 0.0f;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
float rollTestIterm = pidData[FD_ROLL].I;
float pitchTestIterm = pidData[FD_PITCH].I;
float yawTestIterm = pidData[FD_YAW].I;
// Now compare values when exceeding the limit
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
setStickPosition(FD_ROLL, 0.1f);
setStickPosition(FD_PITCH, -0.1f);
setStickPosition(FD_YAW, 0.1f);
simulatedMotorMixRange = (pidProfile->itermWindupPointPercent + 1 / 100.0f);
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
ASSERT_NE(pidData[FD_ROLL].I, rollTestIterm);
ASSERT_NE(pidData[FD_PITCH].I, pitchTestIterm);
ASSERT_NE(pidData[FD_YAW].I, yawTestIterm);
}
// TODO - Add more scenarios