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unit test bugs

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This commit is contained in:
Thorsten Laux 2018-12-10 19:28:18 +01:00
parent 56181a87c8
commit b0af988a75
2 changed files with 3 additions and 9 deletions
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3
src/main/flight/pid.h
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@ -214,8 +214,7 @@ bool pidAntiGravityEnabled(void);
extern float axisError[XYZ_AXIS_COUNT]; extern float axisError[XYZ_AXIS_COUNT];
void applyItermRelax(const int axis, const float iterm, void applyItermRelax(const int axis, const float iterm,
const float gyroRate, float *itermErrorRate, float *currentPidSetpoint); const float gyroRate, float *itermErrorRate, float *currentPidSetpoint);
void applyAbsoluteControl(const int axis, const float gyroRate, const bool itermRelaxIsEnabled, void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate);
const float setpointLpf, const float setpointHpf, float *currentPidSetpoint, float *itermErrorRate);
void rotateItermAndAxisError(); void rotateItermAndAxisError();
float pidLevel(int axis, const pidProfile_t *pidProfile, float pidLevel(int axis, const pidProfile_t *pidProfile,
const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint); const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint);

9
src/test/unit/pid_unittest.cc
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@ -589,8 +589,6 @@ TEST(pidControllerTest, testAbsoluteControl) {
pidStabilisationState(PID_STABILISATION_ON); pidStabilisationState(PID_STABILISATION_ON);
float gyroRate = 0; float gyroRate = 0;
float setpointLpf = 6;
float setpointHpf = 30;
float itermErrorRate = 10; float itermErrorRate = 10;
float currentPidSetpoint = 10; float currentPidSetpoint = 10;
@ -600,16 +598,13 @@ TEST(pidControllerTest, testAbsoluteControl) {
ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8)); ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8)); ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
itermRelaxIsEnabled = true; applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf,
&currentPidSetpoint, &itermErrorRate);
ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8)); ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8)); ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
gyroRate = -53; gyroRate = -53;
axisError[FD_PITCH] = -60; axisError[FD_PITCH] = -60;
applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf, applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
&currentPidSetpoint, &itermErrorRate);
ASSERT_NEAR(-79.2, itermErrorRate, calculateTolerance(-79.2)); ASSERT_NEAR(-79.2, itermErrorRate, calculateTolerance(-79.2));
ASSERT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2)); ASSERT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
} }