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Changes from review and add unit tests

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Stylistic updates and add tests to the PID unit tests to verify launch control behavior
This commit is contained in:
Bruce Luckcuck 2018-10-30 18:14:49 -04:00
parent e4dc93b128
commit b723d2976d
9 changed files with 146 additions and 41 deletions
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20
src/main/cms/cms_menu_imu.c
View file

@ -246,8 +246,8 @@ static CMS_Menu cmsx_menuRateProfile = {
#ifdef USE_LAUNCH_CONTROL
static uint8_t cmsx_launchControlMode;
static uint8_t cmsx_launchControlTriggerMode;
static uint8_t cmsx_launchControlThrottlePct;
static uint8_t cmsx_launchControlAllowTriggerReset;
static uint8_t cmsx_launchControlThrottlePercent;
static uint8_t cmsx_launchControlAngleLimit;
static uint8_t cmsx_launchControlGain;
@ -256,8 +256,8 @@ static long cmsx_launchControlOnEnter(void)
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
cmsx_launchControlMode = pidProfile->launchControlMode;
cmsx_launchControlTriggerMode = pidProfile->launchControlTriggerMode;
cmsx_launchControlThrottlePct = pidProfile->launchControlThrottlePct;
cmsx_launchControlAllowTriggerReset = pidProfile->launchControlAllowTriggerReset;
cmsx_launchControlThrottlePercent = pidProfile->launchControlThrottlePercent;
cmsx_launchControlAngleLimit = pidProfile->launchControlAngleLimit;
cmsx_launchControlGain = pidProfile->launchControlGain;
@ -271,8 +271,8 @@ static long cmsx_launchControlOnExit(const OSD_Entry *self)
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->launchControlMode = cmsx_launchControlMode;
pidProfile->launchControlTriggerMode = cmsx_launchControlTriggerMode;
pidProfile->launchControlThrottlePct = cmsx_launchControlThrottlePct;
pidProfile->launchControlAllowTriggerReset = cmsx_launchControlAllowTriggerReset;
pidProfile->launchControlThrottlePercent = cmsx_launchControlThrottlePercent;
pidProfile->launchControlAngleLimit = cmsx_launchControlAngleLimit;
pidProfile->launchControlGain = cmsx_launchControlGain;
@ -283,10 +283,10 @@ static OSD_Entry cmsx_menuLaunchControlEntries[] = {
{ "-- LAUNCH CONTROL --", OME_Label, NULL, pidProfileIndexString, 0 },
{ "MODE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_launchControlMode, LAUNCH_CONTROL_MODE_COUNT - 1, osdLaunchControlModeNames}, 0 },
{ "TRIGGER MODE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_launchControlTriggerMode, LAUNCH_CONTROL_TRIGGER_MODE_COUNT - 1, osdLaunchControlTriggerModeNames}, 0 },
{ "TRIGGER THROTTLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlThrottlePct, 0, 50, 1 } , 0 },
{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlAngleLimit, 0, 80, 1 } , 0 },
{ "ITERM GAIN", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlGain, 0, 200, 1 } , 0 },
{ "ALLOW RESET", OME_Bool, NULL, &cmsx_launchControlAllowTriggerReset, 0 },
{ "TRIGGER THROTTLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlThrottlePercent, 0, 50, 1 } , 0 },
{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlAngleLimit, 0, 80, 1 } , 0 },
{ "ITERM GAIN", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlGain, 0, 200, 1 } , 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
};

14
src/main/fc/core.c
View file

@ -102,7 +102,7 @@ enum {
ARMING_DELAYED_DISARMED = 0,
ARMING_DELAYED_NORMAL = 1,
ARMING_DELAYED_CRASHFLIP = 2,
ARMING_DELAYED_LAUNCH_CONTROL = 3
ARMING_DELAYED_LAUNCH_CONTROL = 3,
};
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
@ -154,10 +154,6 @@ const char * const osdLaunchControlModeNames[] = {
"PITCHONLY",
"FULL"
};
const char * const osdLaunchControlTriggerModeNames[] = {
"MULTIPLE",
"SINGLE"
};
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig, PG_THROTTLE_CORRECTION_CONFIG, 0);
@ -197,11 +193,9 @@ bool canUseLaunchControl(void)
&& (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled()) // can't use when motors are stopped
&& !featureIsEnabled(FEATURE_3D) // pitch control is not 3D aware
&& (flightModeFlags == 0)) { // don't want to use unless in acro mode
return true;
} else {
return false;
}
return false;
}
#endif
@ -714,7 +708,7 @@ bool processRx(timeUs_t currentTimeUs)
#ifdef USE_LAUNCH_CONTROL
if (ARMING_FLAG(ARMED)) {
if (launchControlActive && (throttlePercent > currentPidProfile->launchControlThrottlePct)) {
if (launchControlActive && (throttlePercent > currentPidProfile->launchControlThrottlePercent)) {
// throttle limit trigger reached, launch triggered
// reset the iterms as they may be at high values from holding the launch position
launchControlState = LAUNCH_CONTROL_TRIGGERED;
@ -726,7 +720,7 @@ bool processRx(timeUs_t currentTimeUs)
// and the mode switch is turned off.
// For trigger mode SINGLE we never reset the state and only a single
// launch is allowed until a reboot.
if ((currentPidProfile->launchControlTriggerMode == LAUNCH_CONTROL_TRIGGER_MODE_MULTIPLE) && !IS_RC_MODE_ACTIVE(BOXLAUNCHCONTROL)) {
if (currentPidProfile->launchControlAllowTriggerReset && !IS_RC_MODE_ACTIVE(BOXLAUNCHCONTROL)) {
launchControlState = LAUNCH_CONTROL_DISABLED;
}
} else {

7
src/main/fc/core.h
View file

@ -47,15 +47,8 @@ typedef enum {
LAUNCH_CONTROL_MODE_COUNT // must be the last element
} launchControlMode_e;
typedef enum {
LAUNCH_CONTROL_TRIGGER_MODE_MULTIPLE = 0,
LAUNCH_CONTROL_TRIGGER_MODE_SINGLE,
LAUNCH_CONTROL_TRIGGER_MODE_COUNT // must be the last element
} launchControlTriggerMode_e;
#ifdef USE_LAUNCH_CONTROL
extern const char * const osdLaunchControlModeNames[LAUNCH_CONTROL_MODE_COUNT];
extern const char * const osdLaunchControlTriggerModeNames[LAUNCH_CONTROL_TRIGGER_MODE_COUNT];
#endif
PG_DECLARE(throttleCorrectionConfig_t, throttleCorrectionConfig);

6
src/main/flight/pid.c
View file

@ -169,10 +169,10 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dterm_filter_type = FILTER_PT1,
.dterm_filter2_type = FILTER_PT1,
.launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
.launchControlThrottlePct = 20,
.launchControlThrottlePercent = 20,
.launchControlAngleLimit = 0,
.launchControlGain = 40,
.launchControlTriggerMode = LAUNCH_CONTROL_TRIGGER_MODE_MULTIPLE,
.launchControlAllowTriggerReset = true,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 120;
@ -1019,7 +1019,7 @@ static float applyLaunchControl(int axis, const rollAndPitchTrims_t *angleTrim)
// If ACC is enabled and a limit angle is set, then try to limit forward tilt
// to that angle and slow down the rate as the limit is approached to reduce overshoot
if ((axis == FD_PITCH) && (launchControlAngleLimit > 0) && (ret > 0.0f)) {
if ((axis == FD_PITCH) && (launchControlAngleLimit > 0) && (ret > 0)) {
const float currentAngle = (attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f;
if (currentAngle >= launchControlAngleLimit) {
ret = 0.0f;

4
src/main/flight/pid.h
View file

@ -152,10 +152,10 @@ typedef struct pidProfile_s {
uint16_t dyn_lpf_dterm_max_hz;
uint8_t dyn_lpf_dterm_idle;
uint8_t launchControlMode; // Whether launch control is limited to pitch only (launch stand or top-mount) or all axes (on battery)
uint8_t launchControlThrottlePct; // Throttle percentage to trigger launch for launch control
uint8_t launchControlThrottlePercent; // Throttle percentage to trigger launch for launch control
uint8_t launchControlAngleLimit; // Optional launch control angle limit (requires ACC)
uint8_t launchControlGain; // Iterm gain used while launch control is active
uint8_t launchControlTriggerMode; // Controls trigger behavior and whether the trigger can be reset
uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);

8
src/main/interface/settings.c
View file

@ -405,9 +405,6 @@ static const char * const lookupTableSdcardMode[] = {
static const char * const lookupTableLaunchControlMode[] = {
"NORMAL", "PITCHONLY", "FULL"
};
static const char * const lookupTableLaunchControlTriggerMode[] = {
"MULTIPLE", "SINGLE"
};
#endif
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
@ -512,7 +509,6 @@ const lookupTableEntry_t lookupTables[] = {
#endif
#ifdef USE_LAUNCH_CONTROL
LOOKUP_TABLE_ENTRY(lookupTableLaunchControlMode),
LOOKUP_TABLE_ENTRY(lookupTableLaunchControlTriggerMode),
#endif
};
@ -927,8 +923,8 @@ const clivalue_t valueTable[] = {
#ifdef USE_LAUNCH_CONTROL
{ "launch_control_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) },
{ "launch_trigger_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_TRIGGER_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlTriggerMode) },
{ "launch_trigger_throttle_percent", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlThrottlePct) },
{ "launch_trigger_allow_reset", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlAllowTriggerReset) },
{ "launch_trigger_throttle_percent", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlThrottlePercent) },
{ "launch_angle_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 80 }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlAngleLimit) },
{ "launch_control_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlGain) },
#endif

1
src/main/interface/settings.h
View file

@ -125,7 +125,6 @@ typedef enum {
#endif
#ifdef USE_LAUNCH_CONTROL
TABLE_LAUNCH_CONTROL_MODE,
TABLE_LAUNCH_CONTROL_TRIGGER_MODE,
#endif
LOOKUP_TABLE_COUNT
} lookupTableIndex_e;

3
src/test/Makefile
View file

@ -325,7 +325,8 @@ pid_unittest_SRC := \
pid_unittest_DEFINES := \
USE_ITERM_RELAX \
USE_RC_SMOOTHING_FILTER \
USE_ABSOLUTE_CONTROL
USE_ABSOLUTE_CONTROL\
USE_LAUNCH_CONTROL
rcdevice_unittest_DEFINES := \
USE_RCDEVICE

124
src/test/unit/pid_unittest.cc
View file

@ -64,6 +64,9 @@ extern "C" {
gyro_t gyro;
attitudeEulerAngles_t attitude;
bool unitLaunchControlActive = false;
launchControlMode_e unitLaunchControlMode = LAUNCH_CONTROL_MODE_NORMAL;
float getThrottlePIDAttenuation(void) { return simulatedThrottlePIDAttenuation; }
float getMotorMixRange(void) { return simulatedMotorMixRange; }
float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
@ -73,7 +76,7 @@ extern "C" {
bool gyroOverflowDetected(void) { return false; }
float getRcDeflection(int axis) { return simulatedRcDeflection[axis]; }
void beeperConfirmationBeeps(uint8_t) { }
bool isLaunchControlActive() {return false; }
bool isLaunchControlActive(void) {return unitLaunchControlActive; }
}
pidProfile_t *pidProfile;
@ -128,6 +131,8 @@ void setDefaultTestSettings(void) {
pidProfile->iterm_relax_cutoff = 11,
pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT,
pidProfile->abs_control_gain = 0,
pidProfile->launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
pidProfile->launchControlGain = 40,
gyro.targetLooptime = 4000;
}
@ -160,6 +165,8 @@ void resetTest(void) {
attitude.values.yaw = 0;
flightModeFlags = 0;
unitLaunchControlActive = false;
pidProfile->launchControlMode = unitLaunchControlMode;
pidInit(pidProfile);
// Run pidloop for a while after reset
@ -653,3 +660,118 @@ TEST(pidControllerTest, testItermRotationHandling) {
ASSERT_NEAR(860.37, pidData[FD_PITCH].I, calculateTolerance(860.37));
ASSERT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
}
TEST(pidControllerTest, testLaunchControl) {
// The launchControlGain is indirectly tested since when launch control is active the
// the gain overrides the PID settings. If the logic to use launchControlGain wasn't
// working then any I calculations would be incorrect.
resetTest();
unitLaunchControlActive = true;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
// test that feedforward and D are disabled (always zero) when launch control is active
// set initial state
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].F);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].F);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// Move the sticks to induce feedforward
setStickPosition(FD_ROLL, 0.5f);
setStickPosition(FD_PITCH, -0.5f);
setStickPosition(FD_YAW, -0.5f);
// add gyro activity to induce D
gyro.gyroADCf[FD_ROLL] = -1000;
gyro.gyroADCf[FD_PITCH] = 1000;
gyro.gyroADCf[FD_YAW] = -1000;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// validate that feedforwad is still 0
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].F);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].F);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
// validate that D is still 0
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// test NORMAL mode - expect P/I on roll and pitch, P on yaw but I == 0
unitLaunchControlMode = LAUNCH_CONTROL_MODE_NORMAL;
resetTest();
unitLaunchControlActive = true;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
gyro.gyroADCf[FD_ROLL] = -20;
gyro.gyroADCf[FD_PITCH] = 20;
gyro.gyroADCf[FD_YAW] = -20;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
ASSERT_NEAR(25.62, pidData[FD_ROLL].P, calculateTolerance(25.62));
ASSERT_NEAR(1.56, pidData[FD_ROLL].I, calculateTolerance(1.56));
ASSERT_NEAR(-37.15, pidData[FD_PITCH].P, calculateTolerance(-37.15));
ASSERT_NEAR(-1.56, pidData[FD_PITCH].I, calculateTolerance(-1.56));
ASSERT_NEAR(44.84, pidData[FD_YAW].P, calculateTolerance(44.84));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
// test PITCHONLY mode - expect P/I only on pitch; I cannot go negative
unitLaunchControlMode = LAUNCH_CONTROL_MODE_PITCHONLY;
resetTest();
unitLaunchControlActive = true;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// first test that pitch I is prevented from going negative
gyro.gyroADCf[FD_ROLL] = 0;
gyro.gyroADCf[FD_PITCH] = 20;
gyro.gyroADCf[FD_YAW] = 0;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
gyro.gyroADCf[FD_ROLL] = 20;
gyro.gyroADCf[FD_PITCH] = -20;
gyro.gyroADCf[FD_YAW] = 20;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].P);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].I);
ASSERT_NEAR(37.15, pidData[FD_PITCH].P, calculateTolerance(37.15));
ASSERT_NEAR(1.56, pidData[FD_PITCH].I, calculateTolerance(1.56));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
// test FULL mode - expect P/I on all axes
unitLaunchControlMode = LAUNCH_CONTROL_MODE_FULL;
resetTest();
unitLaunchControlActive = true;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
gyro.gyroADCf[FD_ROLL] = -20;
gyro.gyroADCf[FD_PITCH] = 20;
gyro.gyroADCf[FD_YAW] = -20;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
ASSERT_NEAR(25.62, pidData[FD_ROLL].P, calculateTolerance(25.62));
ASSERT_NEAR(1.56, pidData[FD_ROLL].I, calculateTolerance(1.56));
ASSERT_NEAR(-37.15, pidData[FD_PITCH].P, calculateTolerance(-37.15));
ASSERT_NEAR(-1.56, pidData[FD_PITCH].I, calculateTolerance(-1.56));
ASSERT_NEAR(44.84, pidData[FD_YAW].P, calculateTolerance(44.84));
ASSERT_NEAR(1.56, pidData[FD_YAW].I, calculateTolerance(1.56));
}