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Code Issues Wiki Activity

refactor motor idle, rename dshot_idle_value to motor_idle (#13936)

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* use idleOffset, simplify idle : check PWM idle

* remove get for dshot idle and calculate it once only

* fixes from reviews, thanks

* use motor_idle for CLI name

* use motorConfig->motorIdle not idleOffset

* rename dshotmotorIdle variable to motorIdlePercent

* small comment improvement
This commit is contained in:
ctzsnooze 2024-10-09 03:31:08 +11:00 • committed by GitHub
parent 10d5963d24
commit 5ffeea6ab1
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GPG key ID: B5690EEEBB952194
17 changed files with 29 additions and 66 deletions
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6
src/test/unit/flight_failsafe_unittest.cc
View file

@ -51,7 +51,6 @@ extern "C" {
#include "gtest/gtest.h"
uint32_t testFeatureMask = 0;
uint16_t testMinThrottle = 0;
throttleStatus_e throttleStatus = THROTTLE_HIGH;
enum {
@ -755,11 +754,6 @@ void beeper(beeperMode_e mode)
UNUSED(mode);
}
uint16_t getCurrentMinthrottle(void)
{
return testMinThrottle;
}
bool isUsingSticksForArming(void)
{
return isUsingSticksToArm;

7
src/test/unit/motor_output_unittest.cc
View file

@ -32,7 +32,6 @@ extern "C" {
extern "C" {
bool featureIsEnabled(uint8_t f);
float getDigitalIdleOffset(const motorConfig_t *motorConfig);
float scaleRangef(float a, float b, float c, float d, float e);
// Mocking functions
@ -43,12 +42,6 @@ bool featureIsEnabled(uint8_t f)
return true;
}
float getDigitalIdleOffset(const motorConfig_t *motorConfig)
{
UNUSED(motorConfig);
return 0;
}
float scaleRangef(float a, float b, float c, float d, float e)
{
UNUSED(a);

5
src/test/unit/pg_unittest.cc
View file

@ -36,7 +36,6 @@ PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
.dev = {.motorPwmRate = 400},
.minthrottle = 1150,
.maxthrottle = 1850,
.mincommand = 1000,
);
@ -50,7 +49,6 @@ TEST(ParameterGroupsfTest, Test_pgResetAll)
{
memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
pgResetAll();
EXPECT_EQ(1150, motorConfig()->minthrottle);
EXPECT_EQ(1850, motorConfig()->maxthrottle);
EXPECT_EQ(1000, motorConfig()->mincommand);
EXPECT_EQ(400, motorConfig()->dev.motorPwmRate);
@ -61,7 +59,6 @@ TEST(ParameterGroupsfTest, Test_pgFind)
memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
const pgRegistry_t *pgRegistry = pgFind(PG_MOTOR_CONFIG);
pgReset(pgRegistry);
EXPECT_EQ(1150, motorConfig()->minthrottle);
EXPECT_EQ(1850, motorConfig()->maxthrottle);
EXPECT_EQ(1000, motorConfig()->mincommand);
EXPECT_EQ(400, motorConfig()->dev.motorPwmRate);
@ -70,7 +67,6 @@ TEST(ParameterGroupsfTest, Test_pgFind)
memset(&motorConfig2, 0, sizeof(motorConfig_t));
motorConfigMutable()->dev.motorPwmRate = 500;
pgStore(pgRegistry, &motorConfig2, sizeof(motorConfig_t));
EXPECT_EQ(1150, motorConfig2.minthrottle);
EXPECT_EQ(1850, motorConfig2.maxthrottle);
EXPECT_EQ(1000, motorConfig2.mincommand);
EXPECT_EQ(500, motorConfig2.dev.motorPwmRate);
@ -78,7 +74,6 @@ TEST(ParameterGroupsfTest, Test_pgFind)
motorConfig_t motorConfig3;
memset(&motorConfig3, 0, sizeof(motorConfig_t));
pgResetCopy(&motorConfig3, PG_MOTOR_CONFIG);
EXPECT_EQ(1150, motorConfig3.minthrottle);
EXPECT_EQ(1850, motorConfig3.maxthrottle);
EXPECT_EQ(1000, motorConfig3.mincommand);
EXPECT_EQ(400, motorConfig3.dev.motorPwmRate);