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Calculate blackbox rate_num and rate_denom for MSP

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This commit is contained in:
Martin Budden 2017-05-04 11:01:38 +01:00
parent c1f8e56b7f
commit f6097cba18
4 changed files with 131 additions and 7 deletions
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104
src/test/unit/blackbox_unittest.cc
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@ -199,7 +199,7 @@ TEST(BlackboxTest, Test_2kHz)
TEST(BlackboxTest, Test_8kHz)
{
blackboxConfigMutable()->p_denom = 32;
// 1kHz PIDloop
// 8kHz PIDloop
gyro.targetLooptime = 125;
blackboxInit();
EXPECT_EQ(true, blackboxShouldLogIFrame());
@ -224,7 +224,7 @@ TEST(BlackboxTest, Test_8kHz)
TEST(BlackboxTest, Test_zero_p_denom)
{
blackboxConfigMutable()->p_denom = 0;
// 2kHz PIDloop
// 1kHz PIDloop
gyro.targetLooptime = 1000;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
@ -242,6 +242,106 @@ TEST(BlackboxTest, Test_zero_p_denom)
EXPECT_EQ(false, blackboxShouldLogPFrame());
}
TEST(BlackboxTest, Test_CalculatePDenom)
{
blackboxConfigMutable()->p_denom = 0;
// note I-frame is logged every 32ms regardless of PIDloop rate
// so p_denom is 32 when blackbox logging rate is 1kHz
// 1kHz PIDloop
gyro.targetLooptime = 1000;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(32, blackboxCalculatePDenom(1, 1)); // 1kHz logging
EXPECT_EQ(16, blackboxCalculatePDenom(1, 2));
EXPECT_EQ(8, blackboxCalculatePDenom(1, 4));
// 2kHz PIDloop
gyro.targetLooptime = 500;
blackboxInit();
EXPECT_EQ(64, blackboxIInterval);
EXPECT_EQ(64, blackboxCalculatePDenom(1, 1));
EXPECT_EQ(32, blackboxCalculatePDenom(1, 2)); // 1kHz logging
EXPECT_EQ(16, blackboxCalculatePDenom(1, 4));
// 4kHz PIDloop
gyro.targetLooptime = 250;
blackboxInit();
EXPECT_EQ(128, blackboxIInterval);
EXPECT_EQ(128, blackboxCalculatePDenom(1, 1));
EXPECT_EQ(64, blackboxCalculatePDenom(1, 2));
EXPECT_EQ(32, blackboxCalculatePDenom(1, 4)); // 1kHz logging
EXPECT_EQ(16, blackboxCalculatePDenom(1, 8));
// 8kHz PIDloop
gyro.targetLooptime = 125;
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(256, blackboxCalculatePDenom(1, 1));
EXPECT_EQ(128, blackboxCalculatePDenom(1, 2));
EXPECT_EQ(64, blackboxCalculatePDenom(1, 4));
EXPECT_EQ(32, blackboxCalculatePDenom(1, 8)); // 1kHz logging
EXPECT_EQ(16, blackboxCalculatePDenom(1, 16));
}
TEST(BlackboxTest, Test_CalculateRates)
{
// 1kHz PIDloop
gyro.targetLooptime = 1000;
blackboxConfigMutable()->p_denom = 32;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(1, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 16;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(2, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 8;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(4, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(4, blackboxGetRateDenom());
// 8kHz PIDloop
gyro.targetLooptime = 125;
blackboxConfigMutable()->p_denom = 32; // 1kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(8, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(8, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 64; // 2kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(4, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(4, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 128; // 4kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(2, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 256; // 8kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(1, blackboxGetRateDenom());
}
// STUBS
extern "C" {