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Merge pull request #9803 from fgiudice98/blackbox-freq-cms

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Michael Keller 2020-06-30 00:55:16 +12:00 • committed by GitHub
commit a0f6a91033
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8 changed files with 106 additions and 55 deletions
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58
src/test/unit/blackbox_unittest.cc
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@ -60,7 +60,7 @@ gyroDev_t gyroDev;
TEST(BlackboxTest, TestInitIntervals)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 4; // sample_rate = PID loop frequency / 16
// 250Hz PIDloop
targetPidLooptime = 4000;
blackboxInit();
@ -72,9 +72,10 @@ TEST(BlackboxTest, TestInitIntervals)
targetPidLooptime = 2000;
blackboxInit();
EXPECT_EQ(16, blackboxIInterval);
EXPECT_EQ(0, blackboxPInterval);
EXPECT_EQ(16, blackboxPInterval);
EXPECT_EQ(4096, blackboxSInterval);
blackboxConfigMutable()->sample_rate = 1; // sample_rate = PID loop frequency / 2
// 2kHz PIDloop
targetPidLooptime = 500;
blackboxInit();
@ -82,6 +83,7 @@ TEST(BlackboxTest, TestInitIntervals)
EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(16384, blackboxSInterval);
blackboxConfigMutable()->sample_rate = 2;
// 4kHz PIDloop
targetPidLooptime = 250;
blackboxInit();
@ -89,6 +91,7 @@ TEST(BlackboxTest, TestInitIntervals)
EXPECT_EQ(4, blackboxPInterval);
EXPECT_EQ(32768, blackboxSInterval);
blackboxConfigMutable()->sample_rate = 3;
// 8kHz PIDloop
targetPidLooptime = 125;
blackboxInit();
@ -99,7 +102,7 @@ TEST(BlackboxTest, TestInitIntervals)
TEST(BlackboxTest, Test_500Hz)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 0;
// 500Hz PIDloop
targetPidLooptime = 2000;
blackboxInit();
@ -117,7 +120,7 @@ TEST(BlackboxTest, Test_500Hz)
TEST(BlackboxTest, Test_1kHz)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 0;
// 1kHz PIDloop
targetPidLooptime = 1000;
blackboxInit();
@ -143,7 +146,7 @@ TEST(BlackboxTest, Test_1kHz)
TEST(BlackboxTest, Test_2kHz)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 1;
// 2kHz PIDloop
targetPidLooptime = 500;
blackboxInit();
@ -176,7 +179,7 @@ TEST(BlackboxTest, Test_2kHz)
TEST(BlackboxTest, Test_8kHz)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 3;
// 8kHz PIDloop
targetPidLooptime = 125;
blackboxInit();
@ -199,18 +202,18 @@ TEST(BlackboxTest, Test_8kHz)
EXPECT_TRUE(blackboxShouldLogPFrame());
}
TEST(BlackboxTest, Test_zero_p_ratio)
TEST(BlackboxTest, Test_zero_p_interval)
{
blackboxConfigMutable()->p_ratio = 0;
// 1kHz PIDloop
targetPidLooptime = 1000;
blackboxConfigMutable()->sample_rate = 4;
// 250Hz PIDloop
targetPidLooptime = 4000;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(8, blackboxIInterval);
EXPECT_EQ(0, blackboxPInterval);
EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_FALSE(blackboxShouldLogPFrame());
for (int ii = 0; ii < 31; ++ii) {
for (int ii = 0; ii < 7; ++ii) {
blackboxAdvanceIterationTimers();
EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_FALSE(blackboxShouldLogPFrame());
@ -222,9 +225,8 @@ TEST(BlackboxTest, Test_zero_p_ratio)
TEST(BlackboxTest, Test_CalculatePDenom)
{
blackboxConfigMutable()->p_ratio = 0;
blackboxConfigMutable()->sample_rate = 0;
// note I-frame is logged every 32ms regardless of PIDloop rate
// so p_ratio is 32 when blackbox logging rate is 1kHz
// 1kHz PIDloop
targetPidLooptime = 1000;
@ -266,19 +268,19 @@ TEST(BlackboxTest, Test_CalculateRates)
{
// 1kHz PIDloop
targetPidLooptime = 1000;
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 0;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 16;
blackboxConfigMutable()->sample_rate = 1;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(2, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 8;
blackboxConfigMutable()->sample_rate = 2;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(4, blackboxPInterval);
@ -287,43 +289,43 @@ TEST(BlackboxTest, Test_CalculateRates)
// 8kHz PIDloop
targetPidLooptime = 125;
blackboxConfigMutable()->p_ratio = 32; // 1kHz logging
blackboxConfigMutable()->sample_rate = 3; // 1kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(8, blackboxPInterval);
EXPECT_EQ(8, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 48; // 1.5kHz logging
blackboxConfigMutable()->sample_rate = 4; // 500Hz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(5, blackboxPInterval);
EXPECT_EQ(5, blackboxGetRateDenom());
EXPECT_EQ(16, blackboxPInterval);
EXPECT_EQ(16, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 64; // 2kHz logging
blackboxConfigMutable()->sample_rate = 2; // 2kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(4, blackboxPInterval);
EXPECT_EQ(4, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 128; // 4kHz logging
blackboxConfigMutable()->sample_rate = 1; // 4kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(2, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 256; // 8kHz logging
blackboxConfigMutable()->sample_rate = 0; // 8kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateDenom());
// 0.126 PIDloop
// 0.126 PIDloop = 7.94kHz
targetPidLooptime = 126;
blackboxConfigMutable()->p_ratio = 32; // 1kHz logging
blackboxConfigMutable()->sample_rate = 3; // 0.992kHz logging
blackboxInit();
EXPECT_EQ(253, blackboxIInterval);
EXPECT_EQ(7, blackboxPInterval);
EXPECT_EQ(7, blackboxGetRateDenom());
EXPECT_EQ(8, blackboxPInterval);
EXPECT_EQ(8, blackboxGetRateDenom());
}