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Gyro native rate sampling, filtering, and scheduler restructuring

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This commit is contained in:
Bruce Luckcuck 2020-01-06 07:52:35 -05:00
parent b11565efbe
commit f584780944
42 changed files with 718 additions and 421 deletions
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17
src/test/unit/sensor_gyro_unittest.cc
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@ -85,6 +85,7 @@ TEST(SensorGyro, Calibrate)
{
pgResetAll();
gyroInit();
gyroSetTargetLooptime(1);
fakeGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_TRUE(read);
@ -119,16 +120,16 @@ TEST(SensorGyro, Update)
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
gyroInit();
gyroSetTargetLooptime(1);
gyroDevPtr->readFn = fakeGyroRead;
gyroStartCalibration(false);
EXPECT_FALSE(gyroIsCalibrationComplete());
timeUs_t currentTimeUs = 0;
fakeGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate(currentTimeUs);
gyroUpdate();
while (!gyroIsCalibrationComplete()) {
fakeGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate(currentTimeUs);
gyroUpdate();
}
EXPECT_TRUE(gyroIsCalibrationComplete());
EXPECT_EQ(5, gyroDevPtr->gyroZero[X]);
@ -137,16 +138,16 @@ TEST(SensorGyro, Update)
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[X]);
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Y]);
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Z]);
gyroUpdate(currentTimeUs);
gyroUpdate();
// expect zero values since gyro is calibrated
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[X]);
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Y]);
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Z]);
fakeGyroSet(gyroDevPtr, 15, 26, 97);
gyroUpdate(currentTimeUs);
EXPECT_NEAR(10 * gyroDevPtr->scale, gyro.gyroADCf[X], 1e-3); // gyroADCf values are scaled
EXPECT_NEAR(20 * gyroDevPtr->scale, gyro.gyroADCf[Y], 1e-3);
EXPECT_NEAR(90 * gyroDevPtr->scale, gyro.gyroADCf[Z], 1e-3);
gyroUpdate();
EXPECT_NEAR(10 * gyroDevPtr->scale, gyro.gyroADC[X], 1e-3); // gyro.gyroADC values are scaled
EXPECT_NEAR(20 * gyroDevPtr->scale, gyro.gyroADC[Y], 1e-3);
EXPECT_NEAR(90 * gyroDevPtr->scale, gyro.gyroADC[Z], 1e-3);
}
// STUBS