Shared altitude control parameters (#13884)

src/test/unit/althold_unittest.cc

@@ -34,6 +34,8 @@ extern "C" {
     #include "flight/failsafe.h"
     #include "flight/imu.h"
     #include "flight/position.h"
+    #include "flight/position_control.h"
+    #include "flight/pid.h"
 
     #include "rx/rx.h"
 
@@ -41,6 +43,7 @@ extern "C" {
 
     PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
     PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0);
+    PG_REGISTER(positionControlConfig_t, positionControlConfig, PG_POSITION_CONTROL, 0);
     PG_REGISTER(altholdConfig_t, altholdConfig, PG_ALTHOLD_CONFIG, 0);
 
     extern altHoldState_t altHoldState;
@@ -97,6 +100,13 @@ TEST(AltholdUnittest, altHoldTransitionsTestUnfinishedExitEnter)
 extern "C" {
     acc_t acc;
 
+    pidCoefficient_t testAltitudePidCoeffs = {15.0f, 15.0f, 15.1f, 15.0f};
+    const pidCoefficient_t *getAltitudePidCoeffs(void) {
+        return &testAltitudePidCoeffs;
+    }
+    float getAltitudeCm(void) { return 0.0f;}
+    float getAltitudeDerivative(void) { return 0.0f;}
+
     void pt2FilterInit(pt2Filter_t *altHoldDeltaLpf, float) {
         UNUSED(altHoldDeltaLpf);
     }
@@ -109,8 +119,6 @@ extern "C" {
     }
 
     bool isAltitudeAvailable(void) { return true; }
-    float getAltitude(void) { return 0.0f; }
-    bool isAltitudeLow(void) { return true; }
     float getCosTiltAngle(void) { return 0.0f; }
     float rcCommand[4];
 

src/test/unit/arming_prevention_unittest.cc

@@ -42,6 +42,7 @@ extern "C" {
     #include "flight/mixer.h"
     #include "flight/pid.h"
     #include "flight/position.h"
+    #include "flight/position_control.h"
     #include "flight/servos.h"
 
     #include "io/beeper.h"
@@ -77,6 +78,7 @@ extern "C" {
     PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
     PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
     PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0);
+    PG_REGISTER(positionControlConfig_t, positionControlConfig, PG_POSITION_CONTROL, 0);
 
     float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
     uint16_t averageSystemLoadPercent = 0;
@@ -1134,17 +1136,17 @@ extern "C" {
     bool isMotorProtocolEnabled(void) { return true; }
     void pinioBoxTaskControl(void) {}
     void schedulerSetNextStateTime(timeDelta_t) {}
-    float getAltitude(void) { return 3000.0f; }
+
+    pidCoefficient_t testAltitudePidCoeffs = {15.0f, 15.0f, 15.1f, 15.0f};
+    const pidCoefficient_t *getAltitudePidCoeffs(void) {
+        return &testAltitudePidCoeffs;
+    }
+    float getAltitudeCm(void) {return 0.0f;}
+    float getAltitudeDerivative(void) {return 0.0f;}
+
     float pt1FilterGain(float, float) { return 0.5f; }
     float pt2FilterGain(float, float)  { return 0.1f; }
     float pt3FilterGain(float, float)  { return 0.1f; }
-    void pt2FilterInit(pt2Filter_t *throttleDLpf, float) {
-        UNUSED(throttleDLpf);
-    }
-    float pt2FilterApply(pt2Filter_t *throttleDLpf, float) {
-        UNUSED(throttleDLpf);
-        return 0.0f;
-    }
     void pt1FilterInit(pt1Filter_t *velocityDLpf, float) {
         UNUSED(velocityDLpf);
     }
@@ -1161,6 +1163,6 @@ extern "C" {
     }
     void getRcDeflectionAbs(void) {}
     uint32_t getCpuPercentageLate(void) { return 0; }
-    bool crashFlipSuccessful(void) {return false; }
-    bool isAltitudeLow(void) {return false; }
+    bool crashFlipSuccessful(void) { return false; }
+    bool isBelowLandingAltitude(void) { return false; };
 }

src/test/unit/flight_imu_unittest.cc

@@ -46,8 +46,8 @@ extern "C" {
     #include "flight/pid.h"
     #include "flight/imu.h"
     #include "flight/position.h"
+    #include "flight/position_control.h"
 
-    
     #include "io/gps.h"
 
     #include "rx/rx.h"
@@ -74,6 +74,7 @@ extern "C" {
     PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
     PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0);
     PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
+    PG_REGISTER(positionControlConfig_t, positionControlConfig, PG_POSITION_CONTROL, 0);
 
     PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
         .enabledFeatures = 0
@@ -438,7 +439,6 @@ extern "C" {
     float getBaroAltitude(void) { return 3000.0f; }
     float gpsRescueGetImuYawCogGain(void) { return 1.0f; }
     float getRcDeflectionAbs(int) { return 0.0f; }
-
     void pt2FilterInit(pt2Filter_t *baroDerivativeLpf, float) {
         UNUSED(baroDerivativeLpf);
     }

src/test/unit/pid_unittest.cc

@@ -101,7 +101,7 @@ extern "C" {
     float mixerGetRcThrottle() { return fabsf(simulatedMixerGetRcThrottle); }
 
 
-    bool isAltitudeLow(void) { return false; }
+    bool isBelowLandingAltitude(void) { return false; }
 
     void systemBeep(bool) { }
     bool gyroOverflowDetected(void) { return false; }