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Code Issues Wiki Activity

More isolated pid_unittests

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Refactor iterm_relax to iterm_relax_axis

Isolate pidLevel test

Isolate pidHorizon tests

remove if UNIT_TEST

revert to iterm_relax from iterm_relax_axis
This commit is contained in:
borisbstyle 2018-09-13 00:19:34 +02:00
parent 9b51fb3216
commit 87b2eeb2fd
3 changed files with 185 additions and 151 deletions
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14
src/main/flight/pid.c
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@ -389,7 +389,7 @@ static FAST_RAM_ZERO_INIT bool itermRotation;
static FAST_RAM_ZERO_INIT bool smartFeedforward;
#endif
#if defined(USE_ABSOLUTE_CONTROL)
static FAST_RAM_ZERO_INIT float axisError[XYZ_AXIS_COUNT];
STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT float axisError[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT float acGain;
static FAST_RAM_ZERO_INIT float acLimit;
static FAST_RAM_ZERO_INIT float acErrorLimit;
@ -522,7 +522,7 @@ void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex)
}
// calculates strength of horizon leveling; 0 = none, 1.0 = most leveling
static float calcHorizonLevelStrength(void)
STATIC_UNIT_TESTED float calcHorizonLevelStrength(void)
{
// start with 1.0 at center stick, 0.0 at max stick deflection:
float horizonLevelStrength = 1.0f - MAX(getRcDeflectionAbs(FD_ROLL), getRcDeflectionAbs(FD_PITCH));
@ -577,7 +577,7 @@ static float calcHorizonLevelStrength(void)
return constrainf(horizonLevelStrength, 0, 1);
}
static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
STATIC_UNIT_TESTED float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
float angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
@ -682,7 +682,7 @@ static void detectAndSetCrashRecovery(
}
}
static void rotateVector(float v[XYZ_AXIS_COUNT], float rotation[XYZ_AXIS_COUNT])
static void rotateVector(float v[XYZ_AXIS_COUNT], float rotation[XYZ_AXIS_COUNT])
{
// rotate v around rotation vector rotation
// rotation in radians, all elements must be small
@ -695,7 +695,7 @@ static void rotateVector(float v[XYZ_AXIS_COUNT], float rotation[XYZ_AXIS_COUNT]
}
}
static void rotateItermAndAxisError()
STATIC_UNIT_TESTED void rotateItermAndAxisError()
{
if (itermRotation
#if defined(USE_ABSOLUTE_CONTROL)
@ -839,7 +839,7 @@ void FAST_CODE applySmartFeedforward(int axis)
#endif // USE_SMART_FEEDFORWARD
#if defined(USE_ABSOLUTE_CONTROL)
static void applyAbsoluteControl(const int axis, const float gyroRate, const bool itermRelaxIsEnabled,
STATIC_UNIT_TESTED void applyAbsoluteControl(const int axis, const float gyroRate, const bool itermRelaxIsEnabled,
const float setpointLpf, const float setpointHpf,
float *currentPidSetpoint, float *itermErrorRate)
{
@ -881,7 +881,7 @@ static void applyAbsoluteControl(const int axis, const float gyroRate, const boo
#endif
#if defined(USE_ITERM_RELAX)
static void applyItermRelax(const int axis, const float iterm,
STATIC_UNIT_TESTED void applyItermRelax(const int axis, const float iterm,
const float gyroRate, float *itermErrorRate, float *currentPidSetpoint)
{
const float setpointLpf = pt1FilterApply(&windupLpf[axis], *currentPidSetpoint);