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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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14
src/main/fc/core.c
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@ -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 {