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Code Issues Wiki Activity

Improve GPS Rescue Pitch smoothing and disarming (#12343)

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ctzsnooze 2023-03-08 16:10:25 +11:00 • committed by GitHub
parent f0e7b21264
commit e957f0dfa6
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GPG key ID: 4AEE18F83AFDEB23
16 changed files with 255 additions and 193 deletions
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19
src/test/unit/arming_prevention_unittest.cc
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@ -97,8 +97,10 @@ extern "C" {
bool mockIsUpright = false;
uint8_t activePidLoopDenom = 1;
float gpsGetSampleRateHz(void) { return 10.0f; }
float getGpsDataIntervalSeconds(void) { return 0.1f; }
void pt1FilterUpdateCutoff(pt1Filter_t *filter, float k) { filter->k = k; }
void pt2FilterUpdateCutoff(pt2Filter_t *filter, float k) { filter->k = k; }
void pt3FilterUpdateCutoff(pt3Filter_t *filter, float k) { filter->k = k; }
}
uint32_t simulationFeatureFlags = 0;
@ -1143,11 +1145,18 @@ extern "C" {
UNUSED(throttleDLpf);
return 0.0f;
}
void pt3FilterInit(pt3Filter_t *pitchLpf, float) {
UNUSED(pitchLpf);
void pt1FilterInit(pt1Filter_t *velocityDLpf, float) {
UNUSED(velocityDLpf);
}
float pt3FilterApply(pt3Filter_t *pitchLpf, float) {
UNUSED(pitchLpf);
float pt1FilterApply(pt1Filter_t *velocityDLpf, float) {
UNUSED(velocityDLpf);
return 0.0f;
}
void pt3FilterInit(pt3Filter_t *velocityUpsampleLpf, float) {
UNUSED(velocityUpsampleLpf);
}
float pt3FilterApply(pt3Filter_t *velocityUpsampleLpf, float) {
UNUSED(velocityUpsampleLpf);
return 0.0f;
}
void getRcDeflectionAbs(void) {}

1
src/test/unit/flight_imu_unittest.cc
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@ -213,7 +213,6 @@ extern "C" {
mag_t mag;
gpsSolutionData_t gpsSol;
int16_t GPS_verticalSpeedInCmS;
uint8_t debugMode;
int16_t debug[DEBUG16_VALUE_COUNT];