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https://github.com/betaflight/betaflight.git
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Changed 'ASSERT_' in unit tests to 'EXPECT_' for more comprehensive failure reporting.
This commit is contained in:
Michael Keller
parent
4ba9a6ca75
commit
71661acde2
4 changed files with 78 additions and 78 deletions
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@ -251,13 +251,13 @@ TEST(pidControllerTest, testPidLoop) {
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pidController(pidProfile, currentTestTime());
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// Loop 2 - Expect PID loop reaction to ROLL error
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ASSERT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
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EXPECT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
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EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].P);
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
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ASSERT_NEAR(-7.8, pidData[FD_ROLL].I, calculateTolerance(-7.8));
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EXPECT_NEAR(-7.8, pidData[FD_ROLL].I, calculateTolerance(-7.8));
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EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
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ASSERT_NEAR(-198.4, pidData[FD_ROLL].D, calculateTolerance(-198.4));
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EXPECT_NEAR(-198.4, pidData[FD_ROLL].D, calculateTolerance(-198.4));
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EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
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@ -266,14 +266,14 @@ TEST(pidControllerTest, testPidLoop) {
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pidController(pidProfile, currentTestTime());
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// Loop 3 - Expect PID loop reaction to PITCH error, ROLL is still in error
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ASSERT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
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ASSERT_NEAR(185.8, pidData[FD_PITCH].P, calculateTolerance(185.8));
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EXPECT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
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EXPECT_NEAR(185.8, pidData[FD_PITCH].P, calculateTolerance(185.8));
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
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ASSERT_NEAR(-15.6, pidData[FD_ROLL].I, calculateTolerance(-15.6));
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ASSERT_NEAR(9.8, pidData[FD_PITCH].I, calculateTolerance(9.8));
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EXPECT_NEAR(-15.6, pidData[FD_ROLL].I, calculateTolerance(-15.6));
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EXPECT_NEAR(9.8, pidData[FD_PITCH].I, calculateTolerance(9.8));
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
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EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
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ASSERT_NEAR(231.4, pidData[FD_PITCH].D, calculateTolerance(231.4));
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EXPECT_NEAR(231.4, pidData[FD_PITCH].D, calculateTolerance(231.4));
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
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// Add some rotation on YAW to generate error
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@ -281,22 +281,22 @@ TEST(pidControllerTest, testPidLoop) {
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pidController(pidProfile, currentTestTime());
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// Loop 4 - Expect PID loop reaction to PITCH error, ROLL and PITCH are still in error
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ASSERT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
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ASSERT_NEAR(185.8, pidData[FD_PITCH].P, calculateTolerance(185.8));
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ASSERT_NEAR(-224.2, pidData[FD_YAW].P, calculateTolerance(-224.2));
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ASSERT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
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ASSERT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
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ASSERT_NEAR(-8.7, pidData[FD_YAW].I, calculateTolerance(-8.7));
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EXPECT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
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EXPECT_NEAR(185.8, pidData[FD_PITCH].P, calculateTolerance(185.8));
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EXPECT_NEAR(-224.2, pidData[FD_YAW].P, calculateTolerance(-224.2));
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EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
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EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
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EXPECT_NEAR(-8.7, pidData[FD_YAW].I, calculateTolerance(-8.7));
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EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
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EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
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ASSERT_NEAR(-132.25, pidData[FD_YAW].D, calculateTolerance(-132.25));
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EXPECT_NEAR(-132.25, pidData[FD_YAW].D, calculateTolerance(-132.25));
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// Simulate Iterm behaviour during mixer saturation
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simulatedMotorMixRange = 1.2f;
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pidController(pidProfile, currentTestTime());
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ASSERT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
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ASSERT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
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ASSERT_NEAR(-8.8, pidData[FD_YAW].I, calculateTolerance(-8.8));
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EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
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EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
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EXPECT_NEAR(-8.8, pidData[FD_YAW].I, calculateTolerance(-8.8));
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simulatedMotorMixRange = 0;
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// Match the stick to gyro to stop error
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@ -311,9 +311,9 @@ TEST(pidControllerTest, testPidLoop) {
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EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].P);
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EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].P);
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
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ASSERT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
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ASSERT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
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ASSERT_NEAR(-10.6, pidData[FD_YAW].I, calculateTolerance(-10.6));
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EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
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EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
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EXPECT_NEAR(-10.6, pidData[FD_YAW].I, calculateTolerance(-10.6));
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EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
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EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
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@ -401,7 +401,7 @@ TEST(pidControllerTest, testPidHorizon) {
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// Test small stick response
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setStickPosition(FD_ROLL, 0.1f);
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setStickPosition(FD_PITCH, -0.1f);
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ASSERT_NEAR(0.82, calcHorizonLevelStrength(), calculateTolerance(0.82));
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EXPECT_NEAR(0.82, calcHorizonLevelStrength(), calculateTolerance(0.82));
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}
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TEST(pidControllerTest, testMixerSaturation) {
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@ -444,9 +444,9 @@ TEST(pidControllerTest, testMixerSaturation) {
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setStickPosition(FD_YAW, 0.1f);
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simulatedMotorMixRange = (pidProfile->itermWindupPointPercent + 1) / 100.0f;
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pidController(pidProfile, currentTestTime());
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ASSERT_LT(pidData[FD_ROLL].I, rollTestIterm);
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ASSERT_GE(pidData[FD_PITCH].I, pitchTestIterm);
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ASSERT_LT(pidData[FD_YAW].I, yawTestIterm);
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EXPECT_LT(pidData[FD_ROLL].I, rollTestIterm);
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EXPECT_GE(pidData[FD_PITCH].I, pitchTestIterm);
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EXPECT_LT(pidData[FD_YAW].I, yawTestIterm);
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}
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// TODO - Add more scenarios
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@ -491,9 +491,9 @@ TEST(pidControllerTest, testFeedForward) {
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pidController(pidProfile, currentTestTime());
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ASSERT_NEAR(2232.78, pidData[FD_ROLL].F, calculateTolerance(2232.78));
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ASSERT_NEAR(-2061.03, pidData[FD_PITCH].F, calculateTolerance(-2061.03));
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ASSERT_NEAR(-82.52, pidData[FD_YAW].F, calculateTolerance(-82.5));
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EXPECT_NEAR(2232.78, pidData[FD_ROLL].F, calculateTolerance(2232.78));
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EXPECT_NEAR(-2061.03, pidData[FD_PITCH].F, calculateTolerance(-2061.03));
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EXPECT_NEAR(-82.52, pidData[FD_YAW].F, calculateTolerance(-82.5));
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// Match the stick to gyro to stop error
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setStickPosition(FD_ROLL, 0.5f);
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@ -502,9 +502,9 @@ TEST(pidControllerTest, testFeedForward) {
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pidController(pidProfile, currentTestTime());
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ASSERT_NEAR(-558.20, pidData[FD_ROLL].F, calculateTolerance(-558.20));
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ASSERT_NEAR(515.26, pidData[FD_PITCH].F, calculateTolerance(515.26));
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ASSERT_NEAR(-41.26, pidData[FD_YAW].F, calculateTolerance(-41.26));
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EXPECT_NEAR(-558.20, pidData[FD_ROLL].F, calculateTolerance(-558.20));
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EXPECT_NEAR(515.26, pidData[FD_PITCH].F, calculateTolerance(515.26));
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EXPECT_NEAR(-41.26, pidData[FD_YAW].F, calculateTolerance(-41.26));
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for (int loop =0; loop <= 15; loop++) {
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gyro.gyroADCf[FD_ROLL] += gyro.gyroADCf[FD_ROLL];
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@ -538,12 +538,12 @@ TEST(pidControllerTest, testItermRelax) {
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applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, ¤tPidSetpoint);
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ASSERT_NEAR(-8.16, itermErrorRate, calculateTolerance(-8.16));
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EXPECT_NEAR(-8.16, itermErrorRate, calculateTolerance(-8.16));
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currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD;
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applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, ¤tPidSetpoint);
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ASSERT_NEAR(-2.69, itermErrorRate, calculateTolerance(-2.69));
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EXPECT_NEAR(-2.69, itermErrorRate, calculateTolerance(-2.69));
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applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, ¤tPidSetpoint);
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ASSERT_NEAR(-0.84, itermErrorRate, calculateTolerance(-0.84));
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EXPECT_NEAR(-0.84, itermErrorRate, calculateTolerance(-0.84));
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pidProfile->iterm_relax_type = ITERM_RELAX_GYRO;
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pidInit(pidProfile);
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@ -554,10 +554,10 @@ TEST(pidControllerTest, testItermRelax) {
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gyroRate = 10;
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itermErrorRate = -10;
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applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, ¤tPidSetpoint);
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ASSERT_NEAR(7, itermErrorRate, calculateTolerance(7));
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EXPECT_NEAR(7, itermErrorRate, calculateTolerance(7));
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gyroRate += 100;
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applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, ¤tPidSetpoint);
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ASSERT_NEAR(-10, itermErrorRate, calculateTolerance(-10));
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EXPECT_NEAR(-10, itermErrorRate, calculateTolerance(-10));
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pidProfile->iterm_relax = ITERM_RELAX_RP_INC;
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pidInit(pidProfile);
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@ -587,7 +587,7 @@ TEST(pidControllerTest, testItermRelax) {
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pidProfile->iterm_relax = ITERM_RELAX_RPY;
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pidInit(pidProfile);
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applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, ¤tPidSetpoint);
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ASSERT_NEAR(-6.46, itermErrorRate, calculateTolerance(-3.6));
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EXPECT_NEAR(-6.46, itermErrorRate, calculateTolerance(-3.6));
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}
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// TODO - Add more tests
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@ -605,18 +605,18 @@ TEST(pidControllerTest, testAbsoluteControl) {
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applyAbsoluteControl(FD_PITCH, gyroRate, ¤tPidSetpoint, &itermErrorRate);
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ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
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ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
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EXPECT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
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EXPECT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
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applyAbsoluteControl(FD_PITCH, gyroRate, ¤tPidSetpoint, &itermErrorRate);
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ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
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ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
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EXPECT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
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EXPECT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
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gyroRate = -53;
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axisError[FD_PITCH] = -60;
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applyAbsoluteControl(FD_PITCH, gyroRate, ¤tPidSetpoint, &itermErrorRate);
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ASSERT_NEAR(-79.2, itermErrorRate, calculateTolerance(-79.2));
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ASSERT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
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EXPECT_NEAR(-79.2, itermErrorRate, calculateTolerance(-79.2));
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EXPECT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
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}
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TEST(pidControllerTest, testDtermFiltering) {
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@ -646,8 +646,8 @@ TEST(pidControllerTest, testItermRotationHandling) {
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gyro.gyroADCf[FD_ROLL] = -1000;
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rotateItermAndAxisError();
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EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, 10);
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ASSERT_NEAR(860.37, pidData[FD_PITCH].I, calculateTolerance(860.37));
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ASSERT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
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EXPECT_NEAR(860.37, pidData[FD_PITCH].I, calculateTolerance(860.37));
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EXPECT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
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pidProfile->abs_control_gain = 10;
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pidInit(pidProfile);
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@ -661,8 +661,8 @@ TEST(pidControllerTest, testItermRotationHandling) {
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axisError[FD_YAW] = 1000;
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rotateItermAndAxisError();
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EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, 10);
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ASSERT_NEAR(860.37, pidData[FD_PITCH].I, calculateTolerance(860.37));
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ASSERT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
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EXPECT_NEAR(860.37, pidData[FD_PITCH].I, calculateTolerance(860.37));
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EXPECT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
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}
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TEST(pidControllerTest, testLaunchControl) {
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@ -722,11 +722,11 @@ TEST(pidControllerTest, testLaunchControl) {
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gyro.gyroADCf[FD_YAW] = -20;
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pidController(pidProfile, currentTestTime());
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ASSERT_NEAR(25.62, pidData[FD_ROLL].P, calculateTolerance(25.62));
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ASSERT_NEAR(1.56, pidData[FD_ROLL].I, calculateTolerance(1.56));
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ASSERT_NEAR(-37.15, pidData[FD_PITCH].P, calculateTolerance(-37.15));
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ASSERT_NEAR(-1.56, pidData[FD_PITCH].I, calculateTolerance(-1.56));
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ASSERT_NEAR(44.84, pidData[FD_YAW].P, calculateTolerance(44.84));
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EXPECT_NEAR(25.62, pidData[FD_ROLL].P, calculateTolerance(25.62));
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EXPECT_NEAR(1.56, pidData[FD_ROLL].I, calculateTolerance(1.56));
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EXPECT_NEAR(-37.15, pidData[FD_PITCH].P, calculateTolerance(-37.15));
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EXPECT_NEAR(-1.56, pidData[FD_PITCH].I, calculateTolerance(-1.56));
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EXPECT_NEAR(44.84, pidData[FD_YAW].P, calculateTolerance(44.84));
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
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// test PITCHONLY mode - expect P/I only on pitch; I cannot go negative
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@ -753,8 +753,8 @@ TEST(pidControllerTest, testLaunchControl) {
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EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].P);
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EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].I);
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ASSERT_NEAR(37.15, pidData[FD_PITCH].P, calculateTolerance(37.15));
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ASSERT_NEAR(1.56, pidData[FD_PITCH].I, calculateTolerance(1.56));
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EXPECT_NEAR(37.15, pidData[FD_PITCH].P, calculateTolerance(37.15));
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EXPECT_NEAR(1.56, pidData[FD_PITCH].I, calculateTolerance(1.56));
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
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EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
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@ -772,10 +772,10 @@ TEST(pidControllerTest, testLaunchControl) {
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gyro.gyroADCf[FD_YAW] = -20;
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pidController(pidProfile, currentTestTime());
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ASSERT_NEAR(25.62, pidData[FD_ROLL].P, calculateTolerance(25.62));
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ASSERT_NEAR(1.56, pidData[FD_ROLL].I, calculateTolerance(1.56));
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ASSERT_NEAR(-37.15, pidData[FD_PITCH].P, calculateTolerance(-37.15));
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ASSERT_NEAR(-1.56, pidData[FD_PITCH].I, calculateTolerance(-1.56));
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ASSERT_NEAR(44.84, pidData[FD_YAW].P, calculateTolerance(44.84));
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ASSERT_NEAR(1.56, pidData[FD_YAW].I, calculateTolerance(1.56));
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EXPECT_NEAR(25.62, pidData[FD_ROLL].P, calculateTolerance(25.62));
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EXPECT_NEAR(1.56, pidData[FD_ROLL].I, calculateTolerance(1.56));
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EXPECT_NEAR(-37.15, pidData[FD_PITCH].P, calculateTolerance(-37.15));
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EXPECT_NEAR(-1.56, pidData[FD_PITCH].I, calculateTolerance(-1.56));
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EXPECT_NEAR(44.84, pidData[FD_YAW].P, calculateTolerance(44.84));
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EXPECT_NEAR(1.56, pidData[FD_YAW].I, calculateTolerance(1.56));
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}
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