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Shared altitude control parameters (#13884)

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ctzsnooze 2024-10-05 16:32:50 +10:00 • committed by GitHub
parent 7156dc84a3
commit 16c157e840
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28 changed files with 383 additions and 273 deletions
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12
src/test/unit/althold_unittest.cc
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@ -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];