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Merge pull request #9597 from etracer65/iterm_windup_yaw_only

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Change iterm_windup to only apply to yaw
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Michael Keller 2020-03-17 22:05:02 +13:00 • committed by GitHub
commit ed6175b22c
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2 changed files with 23 additions and 15 deletions
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20
src/test/unit/pid_unittest.cc
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@ -295,8 +295,8 @@ TEST(pidControllerTest, testPidLoop) {
// Simulate Iterm behaviour during mixer saturation
simulatedMotorMixRange = 1.2f;
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
EXPECT_NEAR(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
EXPECT_NEAR(-8.8, pidData[FD_YAW].I, calculateTolerance(-8.8));
simulatedMotorMixRange = 0;
@ -312,8 +312,8 @@ TEST(pidControllerTest, testPidLoop) {
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].P);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].P);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
EXPECT_NEAR(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
EXPECT_NEAR(-10.6, pidData[FD_YAW].I, calculateTolerance(-10.6));
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
@ -417,12 +417,12 @@ TEST(pidControllerTest, testMixerSaturation) {
simulatedMotorMixRange = 2.0f;
pidController(pidProfile, currentTestTime());
// Expect no iterm accumulation
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
// Expect no iterm accumulation for yaw
EXPECT_FLOAT_EQ(150, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(-150, pidData[FD_PITCH].I);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
// Test itermWindup limit
// Test itermWindup limit (note: windup limit now only affects yaw)
// First store values without exceeding iterm windup limit
resetTest();
ENABLE_ARMING_FLAG(ARMED);
@ -445,8 +445,8 @@ TEST(pidControllerTest, testMixerSaturation) {
setStickPosition(FD_YAW, 0.1f);
simulatedMotorMixRange = (pidProfile->itermWindupPointPercent + 1) / 100.0f;
pidController(pidProfile, currentTestTime());
EXPECT_LT(pidData[FD_ROLL].I, rollTestIterm);
EXPECT_GE(pidData[FD_PITCH].I, pitchTestIterm);
EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, rollTestIterm);
EXPECT_FLOAT_EQ(pidData[FD_PITCH].I, pitchTestIterm);
EXPECT_LT(pidData[FD_YAW].I, yawTestIterm);
}