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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
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@ -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 }
};