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Code Issues Wiki Activity

Remove d min confusion (#13908)

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* rename dMin, remove D_MIN_GAIN_MAX

* rename vars

* fix logic

* fix logic

* Revert "fix tests"

This reverts commit c518c9c444.

* Revert "add yaw and other adjustment cases"

This reverts commit 2cacd4b360.

* Revert "fix unit test"

This reverts commit 3d88f4158a.

* Revert "fix D adjustments change dmax instead of D"

This reverts commit 7ee4e7f8af.

* Revert "Fix telemetry for Spektrum/SRXL (#13814)"

This reverts commit 04fe4b4461.

* review adjustments and test fixes

* Reapply "Fix telemetry for Spektrum/SRXL (#13814)"

This reverts commit eb7f8ee0fd.

* fix logic

* Apply suggestions from code review

Co-authored-by: Jan Post <Rm2k-Freak@web.de>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* fix d_max slider

---------

Co-authored-by: Jan Post <Rm2k-Freak@web.de>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
This commit is contained in:
MikeNomatter 2024-09-24 11:28:25 +02:00 • committed by GitHub
parent c0c24d7f52
commit 908f9cc32d
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GPG key ID: B5690EEEBB952194
16 changed files with 143 additions and 154 deletions
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15
src/test/unit/rc_controls_unittest.cc
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@ -550,10 +550,6 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
pidProfile.pid[PID_YAW].I = 17;
pidProfile.pid[PID_YAW].D = 27;
pidProfile.d_min[FD_PITCH] = 19;
pidProfile.d_min[FD_ROLL] = 19;
pidProfile.d_min[FD_YAW] = 19;
// and
controlRateConfig_t controlRateConfig;
memset(&controlRateConfig, 0, sizeof(controlRateConfig));
@ -564,7 +560,7 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
const timedAdjustmentState_t *adjustmentState4 = configureStepwiseAdjustment(AUX1 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_YAW_P_INDEX);
const timedAdjustmentState_t *adjustmentState5 = configureStepwiseAdjustment(AUX2 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_YAW_I_INDEX);
const timedAdjustmentState_t *adjustmentState6 = configureStepwiseAdjustment(AUX3 - NON_AUX_CHANNEL_COUNT, ADJUSTMENT_YAW_D_INDEX);
// and
for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
rcData[index] = PWM_RANGE_MIDDLE;
@ -596,16 +592,13 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
// and
EXPECT_EQ(1, pidProfile.pid[PID_PITCH].P);
EXPECT_EQ(11, pidProfile.pid[PID_PITCH].I);
EXPECT_EQ(20, pidProfile.pid[PID_PITCH].D);
EXPECT_EQ(20, pidProfile.d_min[FD_PITCH]);
EXPECT_EQ(21, pidProfile.pid[PID_PITCH].D);
EXPECT_EQ(6, pidProfile.pid[PID_ROLL].P);
EXPECT_EQ(16, pidProfile.pid[PID_ROLL].I);
EXPECT_EQ(25, pidProfile.pid[PID_ROLL].D);
EXPECT_EQ(20, pidProfile.d_min[FD_ROLL]);
EXPECT_EQ(26, pidProfile.pid[PID_ROLL].D);
EXPECT_EQ(8, pidProfile.pid[PID_YAW].P);
EXPECT_EQ(18, pidProfile.pid[PID_YAW].I);
EXPECT_EQ(27, pidProfile.pid[PID_YAW].D);
EXPECT_EQ(20, pidProfile.d_min[FD_YAW]);
EXPECT_EQ(28, pidProfile.pid[PID_YAW].D);
}
extern "C" {