Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-12 19:10:32 +03:00
Code Issues Wiki Activity
betaflight/src/test/unit/pid_unittest.cc
ctzsnooze 16c157e840
Shared altitude control parameters (#13884)
2024-10-05 16:32:50 +10:00

1217 lines
43 KiB
C++
Raw Blame History

/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include <stdbool.h>
#include <limits.h>
#include <cmath>
#include "unittest_macros.h"
#include "gtest/gtest.h"
#include "build/debug.h"
bool simulatedAirmodeEnabled = true;
float simulatedSetpointRate[3] = { 0,0,0 };
float simulatedPrevSetpointRate[3] = { 0,0,0 };
float simulatedRcDeflection[3] = { 0,0,0 };
float simulatedMaxRcDeflectionAbs = 0;
float simulatedMixerGetRcThrottle = 0;
float simulatedRcCommandDelta[3] = { 1,1,1 };
float simulatedRawSetpoint[3] = { 0,0,0 };
float simulatedMaxRate[3] = { 670,670,670 };
float simulatedFeedforward[3] = { 0,0,0 };
float simulatedMotorMixRange = 0.0f;
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode;
extern "C" {
#include "platform.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "config/config.h"
#include "config/config_reset.h"
#include "drivers/sound_beeper.h"
#include "drivers/time.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/pid_init.h"
#include "flight/position.h"
#include "io/gps.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "rx/rx.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
acc_t acc;
gyro_t gyro;
attitudeEulerAngles_t attitude;
rxRuntimeState_t rxRuntimeState = {};
PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
PG_REGISTER(positionConfig_t, positionConfig, PG_SYSTEM_CONFIG, 4);
bool unitLaunchControlActive = false;
launchControlMode_e unitLaunchControlMode = LAUNCH_CONTROL_MODE_NORMAL;
float getMotorMixRange(void) { return simulatedMotorMixRange; }
float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
bool isAirmodeActivated(void) { return simulatedAirmodeEnabled; }
float getRcDeflectionAbs(int axis) { return fabsf(simulatedRcDeflection[axis]); }
// used by auto-disarm code
float getMaxRcDeflectionAbs() { return fabsf(simulatedMaxRcDeflectionAbs); }
float mixerGetRcThrottle() { return fabsf(simulatedMixerGetRcThrottle); }
bool isBelowLandingAltitude(void) { return false; }
void systemBeep(bool) { }
bool gyroOverflowDetected(void) { return false; }
float getRcDeflection(int axis) { return simulatedRcDeflection[axis]; }
float getRcDeflectionRaw(int axis) { return simulatedRcDeflection[axis]; }
float getRawSetpoint(int axis) { return simulatedRawSetpoint[axis]; }
float getFeedforward(int axis) {
return simulatedSetpointRate[axis] - simulatedPrevSetpointRate[axis];
}
void beeperConfirmationBeeps(uint8_t) { }
bool isLaunchControlActive(void) {return unitLaunchControlActive; }
void disarm(flightLogDisarmReason_e) { }
float getMaxRcRate(int axis)
{
UNUSED(axis);
float maxRate = simulatedMaxRate[axis];
return maxRate;
}
void initRcProcessing(void) { }
}
pidProfile_t *pidProfile;
int loopIter = 0;
// Always use same defaults for testing in future releases even when defaults change
void setDefaultTestSettings(void)
{
pgResetAll();
pidProfile = pidProfilesMutable(1);
pidProfile->pid[PID_ROLL] = { 40, 40, 30, 65, 0 };
pidProfile->pid[PID_PITCH] = { 58, 50, 35, 60, 0 };
pidProfile->pid[PID_YAW] = { 70, 45, 20, 60, 0 };
pidProfile->pid[PID_LEVEL] = { 50, 50, 75, 50, 0 };
// Compensate for the upscaling done without 'use_integrated_yaw'
pidProfile->pid[PID_YAW].I = pidProfile->pid[PID_YAW].I / 2.5f;
pidProfile->pidSumLimit = PIDSUM_LIMIT; // 500
pidProfile->pidSumLimitYaw = PIDSUM_LIMIT_YAW; // 400
pidProfile->yaw_lowpass_hz = 0;
pidProfile->dterm_lpf1_static_hz = 100;
pidProfile->dterm_lpf2_static_hz = 0;
pidProfile->dterm_notch_hz = 260;
pidProfile->dterm_notch_cutoff = 160;
pidProfile->dterm_lpf1_type = FILTER_BIQUAD;
pidProfile->itermWindup = 80;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->angle_limit = 60;
pidProfile->feedforward_transition = 100;
pidProfile->yawRateAccelLimit = 100;
pidProfile->rateAccelLimit = 0;
pidProfile->anti_gravity_gain = 10;
pidProfile->crash_time = 500;
pidProfile->crash_delay = 0;
pidProfile->crash_recovery_angle = 10;
pidProfile->crash_recovery_rate = 100;
pidProfile->crash_dthreshold = 50;
pidProfile->crash_gthreshold = 400;
pidProfile->crash_setpoint_threshold = 350;
pidProfile->crash_recovery = PID_CRASH_RECOVERY_OFF;
pidProfile->horizon_limit_degrees = 135;
pidProfile->horizon_ignore_sticks = false;
pidProfile->crash_limit_yaw = 200;
pidProfile->itermLimit = 150;
pidProfile->throttle_boost = 0;
pidProfile->throttle_boost_cutoff = 15;
pidProfile->iterm_rotation = false;
pidProfile->iterm_relax = ITERM_RELAX_OFF,
pidProfile->iterm_relax_cutoff = 11,
pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT,
pidProfile->abs_control_gain = 0,
pidProfile->launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
pidProfile->launchControlGain = 40,
pidProfile->level_race_mode = false,
gyro.targetLooptime = 8000;
}
timeUs_t currentTestTime(void)
{
return targetPidLooptime * loopIter++;
}
void resetTest(void)
{
loopIter = 0;
pidRuntime.tpaFactor = 1.0f;
simulatedMotorMixRange = 0.0f;
pidStabilisationState(PID_STABILISATION_OFF);
DISABLE_ARMING_FLAG(ARMED);
setDefaultTestSettings();
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
pidData[axis].P = 0;
pidData[axis].I = 0;
pidData[axis].D = 0;
pidData[axis].F = 0;
pidData[axis].S = 0;
pidData[axis].Sum = 0;
simulatedSetpointRate[axis] = 0;
simulatedRcDeflection[axis] = 0;
simulatedRawSetpoint[axis] = 0;
gyro.gyroADCf[axis] = 0;
}
attitude.values.roll = 0;
attitude.values.pitch = 0;
attitude.values.yaw = 0;
flightModeFlags = 0;
unitLaunchControlActive = false;
pidProfile->launchControlMode = unitLaunchControlMode;
pidInit(pidProfile);
loadControlRateProfile();
// Run pidloop for a while after reset
for (int loop = 0; loop < 20; loop++) {
pidController(pidProfile, currentTestTime());
}
}
void setStickPosition(int axis, float stickRatio)
{
simulatedPrevSetpointRate[axis] = simulatedSetpointRate[axis];
simulatedSetpointRate[axis] = 1998.0f * stickRatio;
simulatedRcDeflection[axis] = stickRatio;
}
// All calculations will have 10% tolerance
float calculateTolerance(float input)
{
return fabsf(input * 0.1f);
}
TEST(pidControllerTest, testInitialisation)
{
resetTest();
// In initial state PIDsums should be 0
for (int axis = 0; axis <= FD_YAW; axis++) {
EXPECT_FLOAT_EQ(0, pidData[axis].P);
EXPECT_FLOAT_EQ(0, pidData[axis].I);
EXPECT_FLOAT_EQ(0, pidData[axis].D);
}
}
TEST(pidControllerTest, testStabilisationDisabled)
{
ENABLE_ARMING_FLAG(ARMED);
// Run few loops to make sure there is no error building up when stabilisation disabled
for (int loop = 0; loop < 10; loop++) {
pidController(pidProfile, currentTestTime());
// PID controller should not do anything, while stabilisation disabled
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_FLOAT_EQ(0, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
}
}
TEST(pidControllerTest, testPidLoop)
{
// Make sure to start with fresh values
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidController(pidProfile, currentTestTime());
// Loop 1 - Expecting zero since there is no error
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_FLOAT_EQ(0, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// Add some rotation on ROLL to generate error
gyro.gyroADCf[FD_ROLL] = 100;
pidController(pidProfile, currentTestTime());
// Loop 2 - Expect PID loop reaction to ROLL error
EXPECT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].P);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
EXPECT_NEAR(-7.8, pidData[FD_ROLL].I, calculateTolerance(-7.8));
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
EXPECT_NEAR(-198.4, pidData[FD_ROLL].D, calculateTolerance(-198.4));
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// Add some rotation on PITCH to generate error
gyro.gyroADCf[FD_PITCH] = -100;
pidController(pidProfile, currentTestTime());
// Loop 3 - Expect PID loop reaction to PITCH error, ROLL is still in error
EXPECT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
EXPECT_NEAR(185.8, pidData[FD_PITCH].P, calculateTolerance(185.8));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
EXPECT_NEAR(-15.6, pidData[FD_ROLL].I, calculateTolerance(-15.6));
EXPECT_NEAR(9.8, pidData[FD_PITCH].I, calculateTolerance(9.8));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_NEAR(231.4, pidData[FD_PITCH].D, calculateTolerance(231.4));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// Add some rotation on YAW to generate error, but not enough to trigger pidSumLimitYaw
gyro.gyroADCf[FD_YAW] = 10;
pidController(pidProfile, currentTestTime());
// Loop 4 - Expect PID loop reaction to PITCH error, ROLL and PITCH are still in error
EXPECT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
EXPECT_NEAR(185.8, pidData[FD_PITCH].P, calculateTolerance(185.8));
EXPECT_NEAR(-22.4, pidData[FD_YAW].P, calculateTolerance(-22.4));
EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
EXPECT_NEAR(-0.87, pidData[FD_YAW].I, calculateTolerance(-0.87));
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
// Simulate Iterm growth if not saturated
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
EXPECT_NEAR(-1.76, pidData[FD_YAW].I, calculateTolerance(-1.76));
EXPECT_NEAR(-24.2, pidData[FD_YAW].Sum, calculateTolerance(-24.2));
// Match the stick to gyro to stop error
simulatedSetpointRate[FD_ROLL] = 100;
simulatedSetpointRate[FD_PITCH] = -100;
simulatedSetpointRate[FD_YAW] = 10; // error
pidController(pidProfile, currentTestTime());
// Iterm is stalled as it is not accumulating anymore
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(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
EXPECT_NEAR(-1.76, pidData[FD_YAW].I, calculateTolerance(-1.76));
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
for(int loop = 0; loop < 5; loop++) {
pidController(pidProfile, currentTestTime());
}
// Iterm is stalled as it is not accumulating anymore
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(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
EXPECT_NEAR(-1.76, pidData[FD_YAW].I, calculateTolerance(-1.76));
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// Now disable Stabilisation
pidStabilisationState(PID_STABILISATION_OFF);
pidController(pidProfile, currentTestTime());
// Should all be zero again
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_FLOAT_EQ(0, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
}
TEST(pidControllerTest, testPidLevel)
{
// Make sure to start with fresh values
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
// Test Angle mode response
enableFlightMode(ANGLE_MODE);
float currentPidSetpointRoll = 0;
float currentPidSetpointPitch = 0;
float calculatedAngleSetpoint = 0;
rollAndPitchTrims_t angleTrim = { { 0, 0 } };
calculatedAngleSetpoint = pidLevel(FD_ROLL, pidProfile, &angleTrim, currentPidSetpointRoll, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(0, calculatedAngleSetpoint);
calculatedAngleSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpointPitch, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(0, calculatedAngleSetpoint);
currentPidSetpointRoll = 200;
calculatedAngleSetpoint = pidLevel(FD_ROLL, pidProfile, &angleTrim, currentPidSetpointRoll, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(51.456356, calculatedAngleSetpoint);
currentPidSetpointPitch = -200;
calculatedAngleSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpointPitch, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(-51.456356, calculatedAngleSetpoint);
currentPidSetpointRoll = 400;
calculatedAngleSetpoint = pidLevel(FD_ROLL, pidProfile, &angleTrim, currentPidSetpointRoll, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(128.94597, calculatedAngleSetpoint);
currentPidSetpointPitch = -400;
calculatedAngleSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpointPitch, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(-128.94597, calculatedAngleSetpoint);
// Test attitude response
attitude.values.roll = -275;
attitude.values.pitch = 275;
calculatedAngleSetpoint = pidLevel(FD_ROLL, pidProfile, &angleTrim, currentPidSetpointRoll, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(242.76686, calculatedAngleSetpoint);
calculatedAngleSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpointPitch, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(-242.76686, calculatedAngleSetpoint);
// Disable ANGLE_MODE
disableFlightMode(ANGLE_MODE);
calculatedAngleSetpoint = pidLevel(FD_ROLL, pidProfile, &angleTrim, currentPidSetpointRoll, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(393.44571, calculatedAngleSetpoint);
calculatedAngleSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpointPitch, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(-392.88422, calculatedAngleSetpoint);
// Test level mode expo
enableFlightMode(ANGLE_MODE);
attitude.values.roll = 0;
attitude.values.pitch = 0;
currentPidSetpointRoll = 400;
currentPidSetpointPitch = -400;
// need to set some rates type and some expo here ??? HELP !!
calculatedAngleSetpoint = pidLevel(FD_ROLL, pidProfile, &angleTrim, currentPidSetpointRoll, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(231.55479, calculatedAngleSetpoint);
calculatedAngleSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpointPitch, calcHorizonLevelStrength());
EXPECT_FLOAT_EQ(-231.55479, calculatedAngleSetpoint);
}
TEST(pidControllerTest, testPidHorizon)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
enableFlightMode(HORIZON_MODE);
// Test stick response greater than default limit of 0.75
setStickPosition(FD_ROLL, 0.76f);
setStickPosition(FD_PITCH, -0.76f);
EXPECT_FLOAT_EQ(0.0f, calcHorizonLevelStrength());
// Return sticks to center, should expect some levelling, but will be delayed
setStickPosition(FD_ROLL, 0);
setStickPosition(FD_PITCH, 0);
EXPECT_FLOAT_EQ(0.0078740157, calcHorizonLevelStrength());
// Test small stick response when flat, considering delay
setStickPosition(FD_ROLL, 0.1f);
setStickPosition(FD_PITCH, -0.1f);
EXPECT_NEAR(0.01457f, calcHorizonLevelStrength(), calculateTolerance(0.01457));
// Test larger stick response when flat
setStickPosition(FD_ROLL, 0.5f);
setStickPosition(FD_PITCH, -0.5f);
EXPECT_NEAR(0.0166, calcHorizonLevelStrength(), calculateTolerance(0.0166));
// set attitude of craft to 90 degrees
attitude.values.roll = 900;
attitude.values.pitch = 900;
// Test centered sticks at 90 degrees
setStickPosition(FD_ROLL, 0);
setStickPosition(FD_PITCH, 0);
// with gain of 50, and max angle of 135 deg, strength = 0.5 * (135-90) / 90 ie 0.5 * 45/136 or 0.5 * 0.333 = 0.166
EXPECT_NEAR(0.0193f, calcHorizonLevelStrength(), calculateTolerance(0.0193));
// Test small stick response at 90 degrees
setStickPosition(FD_ROLL, 0.1f);
setStickPosition(FD_PITCH, -0.1f);
EXPECT_NEAR(0.0213f, calcHorizonLevelStrength(), calculateTolerance(0.0213));
// Test larger stick response at 90 degrees
setStickPosition(FD_ROLL, 0.5f);
setStickPosition(FD_PITCH, -0.5f);
EXPECT_NEAR(0.0218f, calcHorizonLevelStrength(), calculateTolerance(0.0218));
// set attitude of craft to 120 degrees, inside limit of 135
attitude.values.roll = 1200;
attitude.values.pitch = 1200;
// Test centered sticks at 120 degrees
setStickPosition(FD_ROLL, 0);
setStickPosition(FD_PITCH, 0);
EXPECT_NEAR(0.0224f, calcHorizonLevelStrength(), calculateTolerance(0.0224));
// Test small stick response at 120 degrees
setStickPosition(FD_ROLL, 0.1f);
setStickPosition(FD_PITCH, -0.1f);
EXPECT_NEAR(0.0228f, calcHorizonLevelStrength(), calculateTolerance(0.0228));
// Test larger stick response at 120 degrees
setStickPosition(FD_ROLL, 0.5f);
setStickPosition(FD_PITCH, -0.5f);
EXPECT_NEAR(0.018f, calcHorizonLevelStrength(), calculateTolerance(0.018));
// set attitude of craft to 1500 degrees, outside limit of 135
attitude.values.roll = 1500;
attitude.values.pitch = 1500;
// Test centered sticks at 150 degrees - should be zero at any stick angle
setStickPosition(FD_ROLL, 0);
setStickPosition(FD_PITCH, 0);
EXPECT_NEAR(0.0f, calcHorizonLevelStrength(), calculateTolerance(0.0));
setStickPosition(FD_ROLL, 0.5f);
setStickPosition(FD_PITCH, -0.5f);
EXPECT_NEAR(0.0f, calcHorizonLevelStrength(), calculateTolerance(0.0));
}
// trying to fix
TEST(pidControllerTest, testMixerSaturation)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidRuntime.itermLimit = 400;
pidRuntime.itermLimitYaw = 320;
// Test full stick response
setStickPosition(FD_ROLL, 1.0f);
setStickPosition(FD_PITCH, -1.0f);
setStickPosition(FD_YAW, 1.0f);
pidController(pidProfile, currentTestTime());
// Expect iterm accumulation for all axes because at this point, pidSum is not at limit
EXPECT_NEAR(156.2f, pidData[FD_ROLL].I, calculateTolerance(156.2f));
EXPECT_NEAR(-195.3f, pidData[FD_PITCH].I, calculateTolerance(-195.3f));
EXPECT_NEAR(7.0f, pidData[FD_YAW].I, calculateTolerance(7.0f));
// ????? why such slow yaw iTerm growth ?? this is not what I see in the real logs == strange
// Check for iterm growth, should not reach limits yet
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(312.4f, pidData[FD_ROLL].I, calculateTolerance(312.4f));
EXPECT_NEAR(-390.6f, pidData[FD_PITCH].I, calculateTolerance(-390.6));
EXPECT_NEAR(21.1f, pidData[FD_YAW].I, calculateTolerance(21.1));
// Expect iterm roll + pitch to stop at limit of 400
// yaw is still growing,
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(400.0f, pidData[FD_ROLL].I, calculateTolerance(400.0f));
EXPECT_NEAR(-400.0f, pidData[FD_PITCH].I, calculateTolerance(-400.0f));
EXPECT_NEAR(42.2f, pidData[FD_YAW].I, calculateTolerance(42.2f));
// run some more loops, check all iTerm values are at their limit
for (int loop = 0; loop < 7; loop++) {
pidController(pidProfile, currentTestTime());
}
EXPECT_NEAR(400, pidData[FD_ROLL].I, calculateTolerance(400));
EXPECT_NEAR(-400, pidData[FD_PITCH].I, calculateTolerance(-400));
EXPECT_NEAR(320, pidData[FD_YAW].I, calculateTolerance(320));
// Test that the added i term gain from Anti Gravity
// is also limited
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidRuntime.itermLimit = 400;
pidRuntime.itermLimitYaw = 320;
setStickPosition(FD_ROLL, 1.0f);
setStickPosition(FD_PITCH, -1.0f);
setStickPosition(FD_YAW, 1.0f);
const bool prevAgState = pidRuntime.antiGravityEnabled;
const float prevAgTrhottleD = pidRuntime.antiGravityThrottleD;
pidRuntime.antiGravityEnabled = true;
pidRuntime.antiGravityThrottleD = 1.0;
pidController(pidProfile, currentTestTime());
// Expect more iterm accumulation than before on pitch and roll, no change on yaw
// without antigravity values were 156, 195, 7
EXPECT_NEAR(210.6, pidData[FD_ROLL].I, calculateTolerance(210.6f));
EXPECT_NEAR(-249.6f, pidData[FD_PITCH].I, calculateTolerance(-249.6f));
EXPECT_NEAR(7.0f, pidData[FD_YAW].I, calculateTolerance(7.0f));
// run again and should expect to hit the limit on pitch and roll but yaw unaffected
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(400, pidData[FD_ROLL].I, calculateTolerance(400));
EXPECT_NEAR(-400, pidData[FD_PITCH].I, calculateTolerance(-400));
EXPECT_NEAR(21.0f, pidData[FD_YAW].I, calculateTolerance(21.0f));
pidRuntime.antiGravityEnabled = prevAgState;
pidRuntime.antiGravityThrottleD = prevAgTrhottleD;
// Test that i term is limited on yaw at 320 when only yaw is saturated
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidRuntime.itermLimit = 400;
pidRuntime.itermLimitYaw = 320;
pidStabilisationState(PID_STABILISATION_ON);
setStickPosition(FD_ROLL, 0.0f);
setStickPosition(FD_PITCH, 0.0f);
setStickPosition(FD_YAW, 0.5f);
for (int loop = 0; loop < 7; loop++) {
pidController(pidProfile, currentTestTime());
}
EXPECT_NEAR(0, pidData[FD_ROLL].I, calculateTolerance(0));
EXPECT_NEAR(0, pidData[FD_PITCH].I, calculateTolerance(0));
EXPECT_NEAR(197, pidData[FD_YAW].I, calculateTolerance(197));
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(253, pidData[FD_YAW].I, calculateTolerance(320));
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(320, pidData[FD_YAW].I, calculateTolerance(320));
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(0, pidData[FD_ROLL].I, calculateTolerance(0));
EXPECT_NEAR(0, pidData[FD_PITCH].I, calculateTolerance(0));
EXPECT_NEAR(320, pidData[FD_YAW].I, calculateTolerance(320));
}
TEST(pidControllerTest, testiTermWindup)
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
// simulate the outcome with iterm_windup of 50
pidRuntime.itermLimit = 200;
pidRuntime.itermLimitYaw = 160;
pidStabilisationState(PID_STABILISATION_ON);
setStickPosition(FD_ROLL, 0.12f);
setStickPosition(FD_PITCH, 0.12f);
setStickPosition(FD_YAW, 0.12f);
for (int loop = 0; loop < 7; loop++) {
pidController(pidProfile, currentTestTime());
}
EXPECT_NEAR(131, pidData[FD_ROLL].I, calculateTolerance(131));
EXPECT_NEAR(164, pidData[FD_PITCH].I, calculateTolerance(164));
EXPECT_NEAR(126, pidData[FD_YAW].I, calculateTolerance(126));
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(150, pidData[FD_ROLL].I, calculateTolerance(150));
EXPECT_NEAR(200, pidData[FD_PITCH].I, calculateTolerance(200));
EXPECT_NEAR(137, pidData[FD_YAW].I, calculateTolerance(137));
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(169, pidData[FD_ROLL].I, calculateTolerance(200));
EXPECT_NEAR(200, pidData[FD_PITCH].I, calculateTolerance(200));
EXPECT_NEAR(160, pidData[FD_YAW].I, calculateTolerance(160));
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(200, pidData[FD_ROLL].I, calculateTolerance(200));
EXPECT_NEAR(200, pidData[FD_PITCH].I, calculateTolerance(200));
EXPECT_NEAR(160, pidData[FD_YAW].I, calculateTolerance(320));
}
// TODO - Add more scenarios
TEST(pidControllerTest, testCrashRecoveryMode)
{
resetTest();
pidProfile->crash_recovery = PID_CRASH_RECOVERY_ON;
pidInit(pidProfile);
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
sensorsSet(SENSOR_ACC);
EXPECT_FALSE(crashRecoveryModeActive());
int loopsToCrashTime = (int)((pidProfile->crash_time * 1000) / targetPidLooptime) + 1;
// generate crash detection for roll axis
gyro.gyroADCf[FD_ROLL] = 800;
simulatedMotorMixRange = 1.2f;
for (int loop =0; loop <= loopsToCrashTime; loop++) {
gyro.gyroADCf[FD_ROLL] += gyro.gyroADCf[FD_ROLL];
// advance the time to avoid initialized state prevention of crash recovery
pidController(pidProfile, currentTestTime() + 2000000);
}
EXPECT_TRUE(crashRecoveryModeActive());
// Add additional verifications
}
TEST(pidControllerTest, testFeedForward)
// NOTE: THIS DOES NOT TEST THE FEEDFORWARD CALCULATIONS, which are now in rc.c, and return setpointDelta
// This test only validates the feedforward value calculated in pid.c for a given simulated setpointDelta
{
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].F);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].F);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
// Move the sticks fully
setStickPosition(FD_ROLL, 1.0f);
setStickPosition(FD_PITCH, -1.0f);
setStickPosition(FD_YAW, -1.0f);
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(17.86, pidData[FD_ROLL].F, calculateTolerance(17.86));
EXPECT_NEAR(-16.49, pidData[FD_PITCH].F, calculateTolerance(-16.49));
EXPECT_NEAR(-16.49, pidData[FD_YAW].F, calculateTolerance(-16.49));
// Bring sticks back to half way
setStickPosition(FD_ROLL, 0.5f);
setStickPosition(FD_PITCH, -0.5f);
setStickPosition(FD_YAW, -0.5f);
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(-8.93, pidData[FD_ROLL].F, calculateTolerance(-8.93));
EXPECT_NEAR(8.24, pidData[FD_PITCH].F, calculateTolerance(8.24));
EXPECT_NEAR(8.24, pidData[FD_YAW].F, calculateTolerance(8.24));
// Bring sticks back to two tenths out
setStickPosition(FD_ROLL, 0.2f);
setStickPosition(FD_PITCH, -0.2f);
setStickPosition(FD_YAW, -0.2f);
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(-5.36, pidData[FD_ROLL].F, calculateTolerance(-5.36));
EXPECT_NEAR(4.95, pidData[FD_PITCH].F, calculateTolerance(4.95));
EXPECT_NEAR(4.95, pidData[FD_YAW].F, calculateTolerance(4.95));
// Bring sticks back to one tenth out, to give a difference of 0.1
setStickPosition(FD_ROLL, 0.1f);
setStickPosition(FD_PITCH, -0.1f);
setStickPosition(FD_YAW, -0.1f);
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(-1.79, pidData[FD_ROLL].F, calculateTolerance(-1.79));
EXPECT_NEAR(1.65, pidData[FD_PITCH].F, calculateTolerance(1.65));
EXPECT_NEAR(1.65, pidData[FD_YAW].F, calculateTolerance(1.65));
// Center the sticks, giving the same delta value as before, should return the same feedforward
setStickPosition(FD_ROLL, 0.0f);
setStickPosition(FD_PITCH, 0.0f);
setStickPosition(FD_YAW, 0.0f);
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(-1.79, pidData[FD_ROLL].F, calculateTolerance(-1.79));
EXPECT_NEAR(1.65, pidData[FD_PITCH].F, calculateTolerance(1.65));
EXPECT_NEAR(1.65, pidData[FD_YAW].F, calculateTolerance(1.65));
// Keep centered
setStickPosition(FD_ROLL, 0.0f);
setStickPosition(FD_PITCH, 0.0f);
setStickPosition(FD_YAW, 0.0f);
pidController(pidProfile, currentTestTime());
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].F);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].F);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
}
TEST(pidControllerTest, testItermRelax)
{
resetTest();
pidProfile->iterm_relax = ITERM_RELAX_RP;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT;
pidInit(pidProfile);
float itermErrorRate = 0;
float currentPidSetpoint = 0;
float gyroRate = 0;
applyItermRelax(FD_PITCH, 0, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_FLOAT_EQ(itermErrorRate, 0);
itermErrorRate = -10;
currentPidSetpoint = 10;
pidData[FD_PITCH].I = 10;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-8.16, itermErrorRate, calculateTolerance(-8.16));
currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(0, itermErrorRate, calculateTolerance(0));
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(0, itermErrorRate, calculateTolerance(0));
pidProfile->iterm_relax_type = ITERM_RELAX_GYRO;
pidInit(pidProfile);
currentPidSetpoint = 100;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_FLOAT_EQ(itermErrorRate, 0);
gyroRate = 10;
itermErrorRate = -10;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(7, itermErrorRate, calculateTolerance(7));
gyroRate += 100;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-10, itermErrorRate, calculateTolerance(-10));
pidProfile->iterm_relax = ITERM_RELAX_RP_INC;
pidInit(pidProfile);
itermErrorRate = -10;
pidData[FD_PITCH].I = 10;
currentPidSetpoint = 10;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_FLOAT_EQ(itermErrorRate, -10);
itermErrorRate = 10;
pidData[FD_PITCH].I = -10;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_FLOAT_EQ(itermErrorRate, 10);
itermErrorRate = -10;
currentPidSetpoint = 10;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_FLOAT_EQ(itermErrorRate, -100);
pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT;
pidInit(pidProfile);
itermErrorRate = -10;
currentPidSetpoint = ITERM_RELAX_SETPOINT_THRESHOLD;
applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_FLOAT_EQ(itermErrorRate, -10);
pidProfile->iterm_relax = ITERM_RELAX_RPY;
pidInit(pidProfile);
applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-3.6, itermErrorRate, calculateTolerance(-3.6));
}
// TODO - Add more tests
TEST(pidControllerTest, testAbsoluteControl)
{
resetTest();
pidProfile->abs_control_gain = 10;
pidInit(pidProfile);
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
float gyroRate = 0;
float itermErrorRate = 10;
float currentPidSetpoint = 10;
applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
EXPECT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
EXPECT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
EXPECT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
EXPECT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
gyroRate = -53;
axisError[FD_PITCH] = -60;
applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
EXPECT_NEAR(-79.2, itermErrorRate, calculateTolerance(-79.2));
EXPECT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
}
TEST(pidControllerTest, testDtermFiltering)
{
// TODO
}
TEST(pidControllerTest, testItermRotationHandling)
{
resetTest();
pidInit(pidProfile);
rotateItermAndAxisError();
EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, 0);
EXPECT_FLOAT_EQ(pidData[FD_PITCH].I, 0);
EXPECT_FLOAT_EQ(pidData[FD_YAW].I, 0);
pidProfile->iterm_rotation = true;
pidInit(pidProfile);
rotateItermAndAxisError();
EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, 0);
EXPECT_FLOAT_EQ(pidData[FD_PITCH].I, 0);
EXPECT_FLOAT_EQ(pidData[FD_YAW].I, 0);
pidData[FD_ROLL].I = 10;
pidData[FD_PITCH].I = 1000;
pidData[FD_YAW].I = 1000;
gyro.gyroADCf[FD_ROLL] = -1000;
rotateItermAndAxisError();
EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, 10);
EXPECT_NEAR(860.37, pidData[FD_PITCH].I, calculateTolerance(860.37));
EXPECT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
pidProfile->abs_control_gain = 10;
pidInit(pidProfile);
pidData[FD_ROLL].I = 10;
pidData[FD_PITCH].I = 1000;
pidData[FD_YAW].I = 1000;
gyro.gyroADCf[FD_ROLL] = -1000;
// FIXME - axisError changes don't affect the system. This is a potential bug or intendend behaviour?
axisError[FD_PITCH] = 1000;
axisError[FD_YAW] = 1000;
rotateItermAndAxisError();
EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, 10);
EXPECT_NEAR(860.37, pidData[FD_PITCH].I, calculateTolerance(860.37));
EXPECT_NEAR(1139.6, pidData[FD_YAW].I, calculateTolerance(1139.6));
}
TEST(pidControllerTest, testLaunchControl)
{
// The launchControlGain is indirectly tested since when launch control is active the
// the gain overrides the PID settings. If the logic to use launchControlGain wasn't
// working then any I calculations would be incorrect.
resetTest();
unitLaunchControlActive = true;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
// test that feedforward and D are disabled (always zero) when launch control is active
// set initial state
pidController(pidProfile, currentTestTime());
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].F);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].F);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// Move the sticks to induce feedforward
setStickPosition(FD_ROLL, 0.5f);
setStickPosition(FD_PITCH, -0.5f);
setStickPosition(FD_YAW, -0.5f);
// add gyro activity to induce D
gyro.gyroADCf[FD_ROLL] = -1000;
gyro.gyroADCf[FD_PITCH] = 1000;
gyro.gyroADCf[FD_YAW] = -1000;
pidController(pidProfile, currentTestTime());
// validate that feedforwad is still 0
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].F);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].F);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
// validate that D is still 0
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// test NORMAL mode - expect P/I on roll and pitch, P on yaw but I == 0
unitLaunchControlMode = LAUNCH_CONTROL_MODE_NORMAL;
resetTest();
unitLaunchControlActive = true;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidController(pidProfile, currentTestTime());
gyro.gyroADCf[FD_ROLL] = -20;
gyro.gyroADCf[FD_PITCH] = 20;
gyro.gyroADCf[FD_YAW] = -20;
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(25.62, pidData[FD_ROLL].P, calculateTolerance(25.62));
EXPECT_NEAR(1.56, pidData[FD_ROLL].I, calculateTolerance(1.56));
EXPECT_NEAR(-37.15, pidData[FD_PITCH].P, calculateTolerance(-37.15));
EXPECT_NEAR(-1.56, pidData[FD_PITCH].I, calculateTolerance(-1.56));
EXPECT_NEAR(44.84, pidData[FD_YAW].P, calculateTolerance(44.84));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
// test PITCHONLY mode - expect P/I only on pitch; I cannot go negative
unitLaunchControlMode = LAUNCH_CONTROL_MODE_PITCHONLY;
resetTest();
unitLaunchControlActive = true;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidController(pidProfile, currentTestTime());
// first test that pitch I is prevented from going negative
gyro.gyroADCf[FD_ROLL] = 0;
gyro.gyroADCf[FD_PITCH] = 20;
gyro.gyroADCf[FD_YAW] = 0;
pidController(pidProfile, currentTestTime());
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
gyro.gyroADCf[FD_ROLL] = 20;
gyro.gyroADCf[FD_PITCH] = -20;
gyro.gyroADCf[FD_YAW] = 20;
pidController(pidProfile, currentTestTime());
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].P);
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].I);
EXPECT_NEAR(37.15, pidData[FD_PITCH].P, calculateTolerance(37.15));
EXPECT_NEAR(1.56, pidData[FD_PITCH].I, calculateTolerance(1.56));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
// test FULL mode - expect P/I on all axes
unitLaunchControlMode = LAUNCH_CONTROL_MODE_FULL;
resetTest();
unitLaunchControlActive = true;
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
pidController(pidProfile, currentTestTime());
gyro.gyroADCf[FD_ROLL] = -20;
gyro.gyroADCf[FD_PITCH] = 20;
gyro.gyroADCf[FD_YAW] = -20;
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(25.62, pidData[FD_ROLL].P, calculateTolerance(25.62));
EXPECT_NEAR(1.56, pidData[FD_ROLL].I, calculateTolerance(1.56));
EXPECT_NEAR(-37.15, pidData[FD_PITCH].P, calculateTolerance(-37.15));
EXPECT_NEAR(-1.56, pidData[FD_PITCH].I, calculateTolerance(-1.56));
EXPECT_NEAR(44.84, pidData[FD_YAW].P, calculateTolerance(44.84));
EXPECT_NEAR(1.56, pidData[FD_YAW].I, calculateTolerance(1.56));
}
TEST(pidControllerTest, testTpaClassic)
{
resetTest();
pidProfile->tpa_curve_type = TPA_CURVE_CLASSIC;
pidProfile->tpa_rate = 30;
pidProfile->tpa_breakpoint = 1600;
pidProfile->tpa_low_rate = -50;
pidProfile->tpa_low_breakpoint = 1200;
pidProfile->tpa_low_always = 1;
pidInit(pidProfile);
pidUpdateTpaFactor(0.0f);
EXPECT_FLOAT_EQ(1.5f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.1f);
EXPECT_FLOAT_EQ(1.25f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.2f);
EXPECT_FLOAT_EQ(1.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.6f);
EXPECT_FLOAT_EQ(1.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.8f);
EXPECT_FLOAT_EQ(0.85f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(1.0f);
EXPECT_FLOAT_EQ(0.7f, pidRuntime.tpaFactor);
pidProfile->tpa_curve_type = TPA_CURVE_CLASSIC;
pidProfile->tpa_rate = 30;
pidProfile->tpa_breakpoint = 1600;
pidProfile->tpa_low_rate = -50;
pidProfile->tpa_low_breakpoint = 1000;
pidProfile->tpa_low_always = 1;
pidInit(pidProfile);
pidUpdateTpaFactor(0.0f);
EXPECT_FLOAT_EQ(1.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.1f);
EXPECT_FLOAT_EQ(1.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.2f);
EXPECT_FLOAT_EQ(1.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.6f);
EXPECT_FLOAT_EQ(1.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.8f);
EXPECT_FLOAT_EQ(0.85f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(1.0f);
EXPECT_FLOAT_EQ(0.7f, pidRuntime.tpaFactor);
}
TEST(pidControllerTest, testTpaHyperbolic)
{
resetTest();
// curve sligly down - edge case where internal expo -> inf
pidProfile->tpa_curve_type = TPA_CURVE_HYPERBOLIC;
pidProfile->tpa_curve_pid_thr100 = 50;
pidProfile->tpa_curve_pid_thr0 = 500;
pidProfile->tpa_curve_expo = 10;
pidProfile->tpa_curve_stall_throttle = 30;
pidInit(pidProfile);
pidUpdateTpaFactor(0.0f);
EXPECT_FLOAT_EQ(5.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.15f);
EXPECT_FLOAT_EQ(5.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.5);
EXPECT_NEAR(2.588f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(0.9);
EXPECT_NEAR(0.693f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(1.0);
EXPECT_NEAR(0.5f, pidRuntime.tpaFactor, 0.01f);
// linear curve
pidProfile->tpa_curve_type = TPA_CURVE_HYPERBOLIC;
pidProfile->tpa_curve_pid_thr100 = 10;
pidProfile->tpa_curve_pid_thr0 = 300;
pidProfile->tpa_curve_expo = 0;
pidProfile->tpa_curve_stall_throttle = 0;
pidInit(pidProfile);
pidUpdateTpaFactor(0.0f);
EXPECT_FLOAT_EQ(3.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.15f);
EXPECT_NEAR(2.565f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(0.5);
EXPECT_NEAR(1.550f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(0.9);
EXPECT_NEAR(0.390f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(1.0);
EXPECT_NEAR(0.1f, pidRuntime.tpaFactor, 0.01f);
// curve bends up
pidProfile->tpa_curve_type = TPA_CURVE_HYPERBOLIC;
pidProfile->tpa_curve_pid_thr100 = 60;
pidProfile->tpa_curve_pid_thr0 = 1000;
pidProfile->tpa_curve_expo = -50;
pidProfile->tpa_curve_stall_throttle = 40;
pidInit(pidProfile);
pidUpdateTpaFactor(0.0f);
EXPECT_FLOAT_EQ(10.0f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.15f);
EXPECT_NEAR(10.0f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(0.5);
EXPECT_NEAR(9.700f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(0.9);
EXPECT_NEAR(7.364f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(1.0);
EXPECT_NEAR(0.625f, pidRuntime.tpaFactor, 0.01f);
// curve bends down
pidProfile->tpa_curve_type = TPA_CURVE_HYPERBOLIC;
pidProfile->tpa_curve_pid_thr100 = 90;
pidProfile->tpa_curve_pid_thr0 = 250;
pidProfile->tpa_curve_expo = 60;
pidProfile->tpa_curve_stall_throttle = 60;
pidInit(pidProfile);
pidUpdateTpaFactor(0.0f);
EXPECT_FLOAT_EQ(2.5f, pidRuntime.tpaFactor);
pidUpdateTpaFactor(0.15f);
EXPECT_NEAR(2.5f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(0.5);
EXPECT_NEAR(2.5f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(0.9);
EXPECT_NEAR(0.954f, pidRuntime.tpaFactor, 0.01f);
pidUpdateTpaFactor(1.0);
EXPECT_NEAR(0.9f, pidRuntime.tpaFactor, 0.01f);
}
Reference in a new issue View git blame Copy permalink