Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity

Shared altitude control function in position_control.c (#13954)

Browse source 
* Altitude control code shared

fewer debugs
subtract D

* remove #include comments, simplify coding, restructuring

thanks JP and MH

* fix cms limits for throttle control

* Use altitude_control debug, fix throttle calculation

minor refactoring

* use AUTO_CONTROL_ALTITUDE debug in place of GPS Rescue throttle pid

* use autopilot for position control names

* fixes from reviews - thanks

* Re-organise included files and functions thanks Karate

* missed init and other typos

* remove old unused unit test file, tidy up thanks Mark

* fix indentation on one line
This commit is contained in:
ctzsnooze 2024-10-17 08:17:44 +11:00 • committed by GitHub
parent 1d9823b4cd
commit 58fc8bbbb8
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
33 changed files with 263 additions and 595 deletions
Download patch file Download diff file Expand all files Collapse all files

34
src/test/unit/althold_unittest.cc
View file

@ -31,11 +31,11 @@ extern "C" {
#include "fc/runtime_config.h"
#include "flight/alt_hold.h"
#include "flight/autopilot.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/position.h"
#include "flight/position_control.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "rx/rx.h"
@ -43,12 +43,10 @@ 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(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 0);
PG_REGISTER(altholdConfig_t, altholdConfig, PG_ALTHOLD_CONFIG, 0);
extern altHoldState_t altHoldState;
void altHoldReset(void);
void altHoldProcessTransitions(void);
void altHoldInit(void);
void updateAltHoldState(timeUs_t);
bool failsafeIsActive(void) { return false; }
@ -100,33 +98,11 @@ 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);
}
float pt2FilterGain(float, float) {
return 0.0f;
}
float pt2FilterApply(pt2Filter_t *altHoldDeltaLpf, float) {
UNUSED(altHoldDeltaLpf);
return 0.0f;
}
bool isAltitudeAvailable(void) { return true; }
float getAltitudeCm(void) {return 0.0f;}
float getAltitudeDerivative(void) {return 0.0f;}
float getCosTiltAngle(void) { return 0.0f; }
float rcCommand[4];
float getRcDeflection(int)
{
return 0;
}
void parseRcChannels(const char *input, rxConfig_t *rxConfig)
{
UNUSED(input);