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Merge pull request #10516 from etracer65/level_mode_expo

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Self-level modes expo
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Michael Keller 2021-02-14 17:25:16 +13:00 • committed by GitHub
commit aeb2a4f381
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GPG key ID: 4AEE18F83AFDEB23
7 changed files with 51 additions and 5 deletions
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1
src/test/Makefile
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@ -376,6 +376,7 @@ pid_unittest_SRC := \
$(USER_DIR)/common/filter.c \
$(USER_DIR)/common/maths.c \
$(USER_DIR)/drivers/accgyro/gyro_sync.c \
$(USER_DIR)/fc/controlrate_profile.c \
$(USER_DIR)/fc/runtime_config.c \
$(USER_DIR)/flight/pid.c \
$(USER_DIR)/flight/pid_init.c \

29
src/test/unit/pid_unittest.cc
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@ -34,18 +34,21 @@ int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode;
extern "C" {
#include "platform.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "config/config.h"
#include "config/config_reset.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "drivers/sound_beeper.h"
#include "drivers/time.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
@ -59,6 +62,9 @@ extern "C" {
#include "io/gps.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
@ -66,6 +72,7 @@ extern "C" {
attitudeEulerAngles_t attitude;
PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
bool unitLaunchControlActive = false;
launchControlMode_e unitLaunchControlMode = LAUNCH_CONTROL_MODE_NORMAL;
@ -87,6 +94,7 @@ extern "C" {
UNUSED(currentPidSetpoint);
return value;
}
void initRcProcessing(void) { }
}
pidProfile_t *pidProfile;
@ -179,6 +187,10 @@ void resetTest(void) {
unitLaunchControlActive = false;
pidProfile->launchControlMode = unitLaunchControlMode;
pidInit(pidProfile);
loadControlRateProfile();
currentControlRateProfile->levelExpo[FD_ROLL] = 0;
currentControlRateProfile->levelExpo[FD_PITCH] = 0;
// Run pidloop for a while after reset
for (int loop = 0; loop < 20; loop++) {
@ -379,6 +391,19 @@ TEST(pidControllerTest, testPidLevel) {
EXPECT_FLOAT_EQ(0, currentPidSetpoint);
currentPidSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpoint);
EXPECT_FLOAT_EQ(0, currentPidSetpoint);
// Test level mode expo
enableFlightMode(ANGLE_MODE);
attitude.values.roll = 0;
attitude.values.pitch = 0;
setStickPosition(FD_ROLL, 0.5f);
setStickPosition(FD_PITCH, -0.5f);
currentControlRateProfile->levelExpo[FD_ROLL] = 50;
currentControlRateProfile->levelExpo[FD_PITCH] = 26;
currentPidSetpoint = pidLevel(FD_ROLL, pidProfile, &angleTrim, currentPidSetpoint);
EXPECT_FLOAT_EQ(85.9375, currentPidSetpoint);
currentPidSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpoint);
EXPECT_FLOAT_EQ(-110.6875, currentPidSetpoint);
}