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Code Issues Wiki Activity

Fix function brace style

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This commit is contained in:
Mathias Rasmussen 2021-12-29 21:51:43 +01:00 • committed by KarateBrot
parent 6a06f0e408
commit 9957ceb275
83 changed files with 494 additions and 251 deletions
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51
src/test/unit/pid_unittest.cc
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@ -118,7 +118,8 @@ pidProfile_t *pidProfile;
int loopIter = 0;
// Always use same defaults for testing in future releases even when defaults change
void setDefaultTestSettings(void) {
void setDefaultTestSettings(void)
{
pgResetAll();
pidProfile = pidProfilesMutable(1);
pidProfile->pid[PID_ROLL] = { 40, 40, 30, 65 };
@ -170,11 +171,13 @@ void setDefaultTestSettings(void) {
gyro.targetLooptime = 8000;
}
timeUs_t currentTestTime(void) {
timeUs_t currentTestTime(void)
{
return targetPidLooptime * loopIter++;
}
void resetTest(void) {
void resetTest(void)
{
loopIter = 0;
pidRuntime.tpaFactor = 1.0f;
simulatedMotorMixRange = 0.0f;
@ -212,14 +215,16 @@ void resetTest(void) {
}
}
void setStickPosition(int axis, float stickRatio) {
void setStickPosition(int axis, float stickRatio)
{
simulatedPrevSetpointRate[axis] = simulatedSetpointRate[axis];
simulatedSetpointRate[axis] = 1998.0f * stickRatio;
simulatedRcDeflection[axis] = stickRatio;
}
// All calculations will have 10% tolerance
float calculateTolerance(float input) {
float calculateTolerance(float input)
{
return fabsf(input * 0.1f);
}
@ -235,7 +240,8 @@ TEST(pidControllerTest, testInitialisation)
}
}
TEST(pidControllerTest, testStabilisationDisabled) {
TEST(pidControllerTest, testStabilisationDisabled)
{
ENABLE_ARMING_FLAG(ARMED);
// Run few loops to make sure there is no error building up when stabilisation disabled
@ -255,7 +261,8 @@ TEST(pidControllerTest, testStabilisationDisabled) {
}
}
TEST(pidControllerTest, testPidLoop) {
TEST(pidControllerTest, testPidLoop)
{
// Make sure to start with fresh values
resetTest();
ENABLE_ARMING_FLAG(ARMED);
@ -362,7 +369,8 @@ TEST(pidControllerTest, testPidLoop) {
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
}
TEST(pidControllerTest, testPidLevel) {
TEST(pidControllerTest, testPidLevel)
{
// Make sure to start with fresh values
resetTest();
ENABLE_ARMING_FLAG(ARMED);
@ -422,7 +430,8 @@ TEST(pidControllerTest, testPidLevel) {
}
TEST(pidControllerTest, testPidHorizon) {
TEST(pidControllerTest, testPidHorizon)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
@ -445,7 +454,8 @@ TEST(pidControllerTest, testPidHorizon) {
EXPECT_NEAR(0.811f, calcHorizonLevelStrength(), calculateTolerance(0.82));
}
TEST(pidControllerTest, testMixerSaturation) {
TEST(pidControllerTest, testMixerSaturation)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
@ -491,7 +501,8 @@ TEST(pidControllerTest, testMixerSaturation) {
}
// TODO - Add more scenarios
TEST(pidControllerTest, testCrashRecoveryMode) {
TEST(pidControllerTest, testCrashRecoveryMode)
{
resetTest();
pidProfile->crash_recovery = PID_CRASH_RECOVERY_ON;
pidInit(pidProfile);
@ -516,7 +527,8 @@ TEST(pidControllerTest, testCrashRecoveryMode) {
// Add additional verifications
}
TEST(pidControllerTest, testFeedForward) {
TEST(pidControllerTest, testFeedForward)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
@ -561,7 +573,8 @@ TEST(pidControllerTest, testFeedForward) {
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
}
TEST(pidControllerTest, testItermRelax) {
TEST(pidControllerTest, testItermRelax)
{
resetTest();
pidProfile->iterm_relax = ITERM_RELAX_RP;
ENABLE_ARMING_FLAG(ARMED);
@ -635,7 +648,8 @@ TEST(pidControllerTest, testItermRelax) {
}
// TODO - Add more tests
TEST(pidControllerTest, testAbsoluteControl) {
TEST(pidControllerTest, testAbsoluteControl)
{
resetTest();
pidProfile->abs_control_gain = 10;
pidInit(pidProfile);
@ -663,11 +677,13 @@ TEST(pidControllerTest, testAbsoluteControl) {
EXPECT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
}
TEST(pidControllerTest, testDtermFiltering) {
TEST(pidControllerTest, testDtermFiltering)
{
// TODO
}
TEST(pidControllerTest, testItermRotationHandling) {
TEST(pidControllerTest, testItermRotationHandling)
{
resetTest();
pidInit(pidProfile);
@ -709,7 +725,8 @@ TEST(pidControllerTest, testItermRotationHandling) {
EXPECT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
}
TEST(pidControllerTest, testLaunchControl) {
TEST(pidControllerTest, testLaunchControl)
{
// The launchControlGain is indirectly tested since when launch control is active the
// the gain overrides the PID settings. If the logic to use launchControlGain wasn't
// working then any I calculations would be incorrect.