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Code Issues Wiki Activity

Use different scale for inflight adjustments to PIDs of FP based PID

Browse source 
controllers.
This commit is contained in:
Dominic Clifton 2015-01-30 21:46:23 +01:00
parent ea386e6da2
commit 2ac7282314
3 changed files with 40 additions and 46 deletions
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47
src/test/unit/rc_controls_unittest.cc
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@ -20,6 +20,7 @@
extern "C" {
#include "platform.h"
#include "common/maths.h"
#include "common/axis.h"
#include "flight/flight.h"
@ -32,16 +33,6 @@ extern "C" {
extern "C" {
extern void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfig, pidProfile_t *pidProfile);
int constrain(int amt, int low, int high)
{
if (amt < low)
return low;
else if (amt > high)
return high;
else
return amt;
}
}
TEST(RcControlsTest, updateActivatedModesWithAllInputsAtMidde)
@ -594,15 +585,15 @@ TEST(RcControlsTest, processPIDIncreasePidController0)
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
// and
EXPECT_EQ(pidProfile.P8[PIDPITCH], 1);
EXPECT_EQ(pidProfile.P8[PIDROLL], 6);
EXPECT_EQ(pidProfile.P8[YAW], 8);
EXPECT_EQ(pidProfile.I8[PIDPITCH], 11);
EXPECT_EQ(pidProfile.I8[PIDROLL], 16);
EXPECT_EQ(pidProfile.I8[YAW], 18);
EXPECT_EQ(pidProfile.D8[PIDPITCH], 21);
EXPECT_EQ(pidProfile.D8[PIDROLL], 26);
EXPECT_EQ(pidProfile.D8[YAW], 28);
EXPECT_EQ(1, pidProfile.P8[PIDPITCH]);
EXPECT_EQ(6, pidProfile.P8[PIDROLL]);
EXPECT_EQ(8, pidProfile.P8[YAW]);
EXPECT_EQ(11, pidProfile.I8[PIDPITCH]);
EXPECT_EQ(16, pidProfile.I8[PIDROLL]);
EXPECT_EQ(18, pidProfile.I8[YAW]);
EXPECT_EQ(21, pidProfile.D8[PIDPITCH]);
EXPECT_EQ(26, pidProfile.D8[PIDROLL]);
EXPECT_EQ(28, pidProfile.D8[YAW]);
}
TEST(RcControlsTest, processPIDIncreasePidController2)
@ -680,15 +671,15 @@ TEST(RcControlsTest, processPIDIncreasePidController2)
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
// and
EXPECT_EQ(pidProfile.P_f[PIDPITCH], 1.0f);
EXPECT_EQ(pidProfile.P_f[PIDROLL], 6.0f);
EXPECT_EQ(pidProfile.P_f[PIDYAW], 8.0f);
EXPECT_EQ(pidProfile.I_f[PIDPITCH], 11.0f);
EXPECT_EQ(pidProfile.I_f[PIDROLL], 16.0f);
EXPECT_EQ(pidProfile.I_f[PIDYAW], 18.0f);
EXPECT_EQ(pidProfile.D_f[PIDPITCH], 21.0f);
EXPECT_EQ(pidProfile.D_f[PIDROLL], 26.0f);
EXPECT_EQ(pidProfile.D_f[PIDYAW], 28.0f);
EXPECT_EQ(0.1f, pidProfile.P_f[PIDPITCH]);
EXPECT_EQ(5.1f, pidProfile.P_f[PIDROLL]);
EXPECT_EQ(7.1f, pidProfile.P_f[PIDYAW]);
EXPECT_EQ(10.1f, pidProfile.I_f[PIDPITCH]);
EXPECT_EQ(15.1f, pidProfile.I_f[PIDROLL]);
EXPECT_EQ(17.1f, pidProfile.I_f[PIDYAW]);
EXPECT_EQ(20.1f, pidProfile.D_f[PIDPITCH]);
EXPECT_EQ(25.1f, pidProfile.D_f[PIDROLL]);
EXPECT_EQ(27.1f, pidProfile.D_f[PIDYAW]);
}