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Fix d adjustment (#13822)

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* fix D adjustments change dmax instead of D

* fix unit test

* add yaw and other adjustment cases

* fix tests
This commit is contained in:
MikeNomatter 2024-08-21 15:08:01 +02:00 • committed by GitHub
parent dd73ce4dd7
commit a232655b42
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2 changed files with 20 additions and 12 deletions
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14
src/test/unit/rc_controls_unittest.cc
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@ -549,6 +549,11 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
pidProfile.pid[PID_YAW].P = 7;
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));
@ -591,13 +596,16 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
// and
EXPECT_EQ(1, pidProfile.pid[PID_PITCH].P);
EXPECT_EQ(11, pidProfile.pid[PID_PITCH].I);
EXPECT_EQ(21, pidProfile.pid[PID_PITCH].D);
EXPECT_EQ(20, pidProfile.pid[PID_PITCH].D);
EXPECT_EQ(20, pidProfile.d_min[FD_PITCH]);
EXPECT_EQ(6, pidProfile.pid[PID_ROLL].P);
EXPECT_EQ(16, pidProfile.pid[PID_ROLL].I);
EXPECT_EQ(26, pidProfile.pid[PID_ROLL].D);
EXPECT_EQ(25, pidProfile.pid[PID_ROLL].D);
EXPECT_EQ(20, pidProfile.d_min[FD_ROLL]);
EXPECT_EQ(8, pidProfile.pid[PID_YAW].P);
EXPECT_EQ(18, pidProfile.pid[PID_YAW].I);
EXPECT_EQ(28, pidProfile.pid[PID_YAW].D);
EXPECT_EQ(27, pidProfile.pid[PID_YAW].D);
EXPECT_EQ(20, pidProfile.d_min[FD_YAW]);
}
extern "C" {