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Add test for anti-windup affecting Anti Gravity gain

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This commit is contained in:
Tobias Bolin 2022-10-12 21:58:04 +02:00
parent c61efe1e2e
commit 2bdb660d56
1 changed files with 23 additions and 0 deletions
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23
src/test/unit/pid_unittest.cc
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@ -498,6 +498,29 @@ TEST(pidControllerTest, testMixerSaturation)
EXPECT_LT(pidData[FD_ROLL].I, rollTestIterm);
EXPECT_GE(pidData[FD_PITCH].I, pitchTestIterm);
EXPECT_LT(pidData[FD_YAW].I, yawTestIterm);
// Test that the added i term gain from Anti Gravity
// is also affected by itermWindup
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
setStickPosition(FD_ROLL, 1.0f);
setStickPosition(FD_PITCH, -1.0f);
setStickPosition(FD_YAW, 1.0f);
simulatedMotorMixRange = 2.0f;
const bool prevAgState = pidRuntime.antiGravityEnabled;
const float prevAgTrhottleD = pidRuntime.antiGravityThrottleD;
pidRuntime.antiGravityEnabled = true;
pidRuntime.antiGravityThrottleD = 1.0;
pidController(pidProfile, currentTestTime());
pidRuntime.antiGravityEnabled = prevAgState;
pidRuntime.antiGravityThrottleD = prevAgTrhottleD;
// Expect no iterm accumulation for all axes
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
}
// TODO - Add more scenarios