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use Throttle Setpoint, not rcDATA(throttle), for TPA

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This commit is contained in:
ctzsnooze 2022-01-24 15:25:16 +11:00
parent f2559fbfd8
commit 2262dfc60e
16 changed files with 37 additions and 43 deletions
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4
src/test/unit/pid_unittest.cc
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@ -28,7 +28,6 @@ bool simulatedAirmodeEnabled = true;
float simulatedSetpointRate[3] = { 0,0,0 };
float simulatedPrevSetpointRate[3] = { 0,0,0 };
float simulatedRcDeflection[3] = { 0,0,0 };
float simulatedThrottlePIDAttenuation = 1.0f;
float simulatedMotorMixRange = 0.0f;
int16_t debug[DEBUG16_VALUE_COUNT];
@ -78,7 +77,6 @@ extern "C" {
bool unitLaunchControlActive = false;
launchControlMode_e unitLaunchControlMode = LAUNCH_CONTROL_MODE_NORMAL;
float getThrottlePIDAttenuation(void) { return simulatedThrottlePIDAttenuation; }
float getMotorMixRange(void) { return simulatedMotorMixRange; }
float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
bool isAirmodeActivated() { return simulatedAirmodeEnabled; }
@ -180,7 +178,7 @@ timeUs_t currentTestTime(void) {
void resetTest(void) {
loopIter = 0;
simulatedThrottlePIDAttenuation = 1.0f;
pidRuntime.tpaFactor = 1.0f;
simulatedMotorMixRange = 0.0f;
pidStabilisationState(PID_STABILISATION_OFF);

6
src/test/unit/rc_controls_unittest.cc
View file

@ -259,7 +259,7 @@ protected:
.thrMid8 = 0,
.thrExpo8 = 0,
.rates = {0, 0, 0},
.dynThrPID = 0,
.tpa_rate = 0,
.rcExpo[FD_YAW] = 0,
.tpa_breakpoint = 0
};
@ -287,7 +287,7 @@ protected:
controlRateConfig.rates[0] = 0;
controlRateConfig.rates[1] = 0;
controlRateConfig.rates[2] = 0;
controlRateConfig.dynThrPID = 0;
controlRateConfig.tpa_rate = 0;
controlRateConfig.tpa_breakpoint = 0;
PG_RESET(adjustmentRanges);
@ -365,7 +365,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
.thrMid8 = 0,
.thrExpo8 = 0,
.rates = {0,0,0},
.dynThrPID = 0,
.tpa_rate = 0,
.rcExpo[FD_YAW] = 0,
.tpa_breakpoint = 0
};