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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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6
src/main/flight/pid.c
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@ -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;