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Fix bug with antiwindup inversion

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This commit is contained in:
borisbstyle 2018-09-10 00:07:55 +02:00
parent 39ced6bbfe
commit 864a2d6a2b
2 changed files with 12 additions and 3 deletions
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11
src/test/unit/pid_unittest.cc
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@ -269,6 +269,14 @@ TEST(pidControllerTest, testPidLoop) {
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
ASSERT_NEAR(-132.25, pidData[FD_YAW].D, calculateTolerance(-132.25));
// Simulate Iterm behaviour during mixer saturation
simulatedMotorMixRange = 1.2f;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
ASSERT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
ASSERT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
ASSERT_NEAR(-8.8, pidData[FD_YAW].I, calculateTolerance(-8.8));
simulatedMotorMixRange = 0;
// Match the stick to gyro to stop error
simulatedSetpointRate[FD_ROLL] = 100;
simulatedSetpointRate[FD_PITCH] = -100;
@ -277,14 +285,13 @@ TEST(pidControllerTest, testPidLoop) {
for(int loop = 0; loop < 5; loop++) {
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
}
// Iterm is stalled as it is not accumulating anymore
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].P);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].P);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
ASSERT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
ASSERT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
ASSERT_NEAR(-10.6, pidData[FD_YAW].I, calculateTolerance(-10.5));
ASSERT_NEAR(-10.6, pidData[FD_YAW].I, calculateTolerance(-10.6));
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);