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major rc changes ctzsnooze 2021

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This commit is contained in:
ctzsnooze 2021-05-03 09:08:29 +10:00
parent 2a5e457603
commit 636d563abe
26 changed files with 377 additions and 546 deletions
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30
src/test/unit/pid_unittest.cc
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@ -26,6 +26,7 @@
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;
@ -88,12 +89,26 @@ extern "C" {
void beeperConfirmationBeeps(uint8_t) { }
bool isLaunchControlActive(void) {return unitLaunchControlActive; }
void disarm(flightLogDisarmReason_e) { }
float applyFFLimit(int axis, float value, float Kp, float currentPidSetpoint) {
float applyFeedforwardLimit(int axis, float value, float Kp, float currentPidSetpoint)
{
UNUSED(axis);
UNUSED(Kp);
UNUSED(currentPidSetpoint);
return value;
}
void feedforwardInit(const pidProfile_t) { }
float feedforwardApply(int axis, bool newRcFrame, feedforwardAveraging_t feedforwardAveraging)
{
UNUSED(newRcFrame);
UNUSED(feedforwardAveraging);
return simulatedSetpointRate[axis] - simulatedPrevSetpointRate[axis];
}
bool shouldApplyFeedforwardLimits(int axis)
{
UNUSED(axis);
return true;
}
bool getShouldUpdateFeedforward() { return true; }
void initRcProcessing(void) { }
}
@ -124,7 +139,7 @@ void setDefaultTestSettings(void) {
pidProfile->itermWindupPointPercent = 50;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->levelAngleLimit = 55;
pidProfile->feedForwardTransition = 100;
pidProfile->feedforwardTransition = 100;
pidProfile->yawRateAccelLimit = 100;
pidProfile->rateAccelLimit = 0;
pidProfile->antiGravityMode = ANTI_GRAVITY_SMOOTH;
@ -199,6 +214,7 @@ void resetTest(void) {
}
void setStickPosition(int axis, float stickRatio) {
simulatedPrevSetpointRate[axis] = simulatedSetpointRate[axis];
simulatedSetpointRate[axis] = 1998.0f * stickRatio;
simulatedRcDeflection[axis] = stickRatio;
}
@ -519,7 +535,7 @@ TEST(pidControllerTest, testFeedForward) {
EXPECT_NEAR(2232.78, pidData[FD_ROLL].F, calculateTolerance(2232.78));
EXPECT_NEAR(-2061.03, pidData[FD_PITCH].F, calculateTolerance(-2061.03));
EXPECT_NEAR(-82.52, pidData[FD_YAW].F, calculateTolerance(-82.5));
EXPECT_NEAR(-2061.03, pidData[FD_YAW].F, calculateTolerance(-2061.03));
// Match the stick to gyro to stop error
setStickPosition(FD_ROLL, 0.5f);
@ -530,9 +546,13 @@ TEST(pidControllerTest, testFeedForward) {
EXPECT_NEAR(-558.20, pidData[FD_ROLL].F, calculateTolerance(-558.20));
EXPECT_NEAR(515.26, pidData[FD_PITCH].F, calculateTolerance(515.26));
EXPECT_NEAR(-41.26, pidData[FD_YAW].F, calculateTolerance(-41.26));
EXPECT_NEAR(515.26, pidData[FD_YAW].F, calculateTolerance(515.26));
for (int loop =0; loop <= 15; loop++) {
setStickPosition(FD_ROLL, 0.0f);
setStickPosition(FD_PITCH, 0.0f);
setStickPosition(FD_YAW, 0.0f);
for (int loop = 0; loop <= 15; loop++) {
gyro.gyroADCf[FD_ROLL] += gyro.gyroADCf[FD_ROLL];
pidController(pidProfile, currentTestTime());
}