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Merge pull request #7193 from joelucid/ac_fixes

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fix abs control refactor, make abs control cutoff configurable
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Michael Keller 2018-12-13 00:28:13 +13:00 • committed by GitHub
commit b04d6d69af
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4 changed files with 41 additions and 45 deletions
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13
src/test/unit/pid_unittest.cc
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@ -589,29 +589,22 @@ TEST(pidControllerTest, testAbsoluteControl) {
pidStabilisationState(PID_STABILISATION_ON);
float gyroRate = 0;
bool itermRelaxIsEnabled = false;
float setpointLpf = 6;
float setpointHpf = 30;
float itermErrorRate = 10;
float currentPidSetpoint = 10;
applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf,
&currentPidSetpoint, &itermErrorRate);
applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
itermRelaxIsEnabled = true;
applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf,
&currentPidSetpoint, &itermErrorRate);
applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
gyroRate = -53;
axisError[FD_PITCH] = -60;
applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf,
&currentPidSetpoint, &itermErrorRate);
applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
ASSERT_NEAR(-79.2, itermErrorRate, calculateTolerance(-79.2));
ASSERT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
}