mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-26 01:35:41 +03:00
388 lines
12 KiB
C++
388 lines
12 KiB
C++
/*
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <string.h>
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extern "C" {
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#include "platform.h"
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#include "build/debug.h"
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#include "blackbox/blackbox.h"
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#include "common/utils.h"
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#include "pg/pg.h"
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#include "pg/pg_ids.h"
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#include "pg/rx.h"
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#include "pg/motor.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/accgyro/gyro_sync.h"
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#include "drivers/serial.h"
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#include "flight/failsafe.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "io/gps.h"
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "sensors/battery.h"
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#include "sensors/gyro.h"
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extern int16_t blackboxIInterval;
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extern int16_t blackboxPInterval;
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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gyroDev_t gyroDev;
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TEST(BlackboxTest, TestInitIntervals)
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{
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blackboxConfigMutable()->sample_rate = 4; // sample_rate = PID loop frequency / 16
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// 250Hz PIDloop
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targetPidLooptime = 4000;
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blackboxInit();
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EXPECT_EQ(8, blackboxIInterval);
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EXPECT_EQ(0, blackboxPInterval);
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EXPECT_EQ(2048, blackboxSInterval);
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// 500Hz PIDloop
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targetPidLooptime = 2000;
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blackboxInit();
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EXPECT_EQ(16, blackboxIInterval);
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EXPECT_EQ(16, blackboxPInterval);
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EXPECT_EQ(4096, blackboxSInterval);
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blackboxConfigMutable()->sample_rate = 1; // sample_rate = PID loop frequency / 2
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// 2kHz PIDloop
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targetPidLooptime = 500;
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blackboxInit();
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EXPECT_EQ(64, blackboxIInterval);
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EXPECT_EQ(2, blackboxPInterval);
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EXPECT_EQ(16384, blackboxSInterval);
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blackboxConfigMutable()->sample_rate = 2;
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// 4kHz PIDloop
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targetPidLooptime = 250;
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blackboxInit();
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EXPECT_EQ(128, blackboxIInterval);
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EXPECT_EQ(4, blackboxPInterval);
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EXPECT_EQ(32768, blackboxSInterval);
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blackboxConfigMutable()->sample_rate = 3;
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// 8kHz PIDloop
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targetPidLooptime = 125;
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blackboxInit();
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EXPECT_EQ(256, blackboxIInterval);
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EXPECT_EQ(8, blackboxPInterval);
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EXPECT_EQ(65536, blackboxSInterval);
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}
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TEST(BlackboxTest, Test_500Hz)
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{
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blackboxConfigMutable()->sample_rate = 0;
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// 500Hz PIDloop
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targetPidLooptime = 2000;
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blackboxInit();
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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for (int ii = 0; ii < 15; ++ii) {
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blackboxAdvanceIterationTimers();
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EXPECT_FALSE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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}
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blackboxAdvanceIterationTimers();
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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}
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TEST(BlackboxTest, Test_1kHz)
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{
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blackboxConfigMutable()->sample_rate = 0;
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// 1kHz PIDloop
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targetPidLooptime = 1000;
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blackboxInit();
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
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EXPECT_FALSE(blackboxSlowFrameIterationTimer >= blackboxSInterval);
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blackboxSlowFrameIterationTimer = blackboxSInterval;
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EXPECT_TRUE(writeSlowFrameIfNeeded());
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EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
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for (int ii = 0; ii < 31; ++ii) {
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blackboxAdvanceIterationTimers();
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EXPECT_FALSE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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EXPECT_EQ(ii + 1, blackboxSlowFrameIterationTimer);
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EXPECT_FALSE(writeSlowFrameIfNeeded());
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}
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blackboxAdvanceIterationTimers();
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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}
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TEST(BlackboxTest, Test_2kHz)
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{
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blackboxConfigMutable()->sample_rate = 1;
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// 2kHz PIDloop
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targetPidLooptime = 500;
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blackboxInit();
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EXPECT_EQ(64, blackboxIInterval);
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EXPECT_EQ(2, blackboxPInterval);
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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blackboxAdvanceIterationTimers();
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EXPECT_FALSE(blackboxShouldLogIFrame());
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EXPECT_FALSE(blackboxShouldLogPFrame());
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for (int ii = 0; ii < 31; ++ii) {
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blackboxAdvanceIterationTimers();
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EXPECT_FALSE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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blackboxAdvanceIterationTimers();
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EXPECT_FALSE(blackboxShouldLogIFrame());
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EXPECT_FALSE(blackboxShouldLogPFrame());
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}
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blackboxAdvanceIterationTimers();
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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blackboxAdvanceIterationTimers();
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EXPECT_FALSE(blackboxShouldLogIFrame());
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EXPECT_FALSE(blackboxShouldLogPFrame());
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}
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TEST(BlackboxTest, Test_8kHz)
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{
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blackboxConfigMutable()->sample_rate = 3;
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// 8kHz PIDloop
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targetPidLooptime = 125;
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blackboxInit();
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
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EXPECT_FALSE(blackboxSlowFrameIterationTimer >= blackboxSInterval);
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blackboxSlowFrameIterationTimer = blackboxSInterval;
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EXPECT_TRUE(writeSlowFrameIfNeeded());
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EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
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for (int ii = 0; ii < 255; ++ii) {
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blackboxAdvanceIterationTimers();
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EXPECT_FALSE(blackboxShouldLogIFrame());
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EXPECT_EQ(ii + 1, blackboxSlowFrameIterationTimer);
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EXPECT_FALSE(writeSlowFrameIfNeeded());
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}
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blackboxAdvanceIterationTimers();
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_TRUE(blackboxShouldLogPFrame());
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}
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TEST(BlackboxTest, Test_zero_p_interval)
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{
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blackboxConfigMutable()->sample_rate = 4;
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// 250Hz PIDloop
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targetPidLooptime = 4000;
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blackboxInit();
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EXPECT_EQ(8, blackboxIInterval);
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EXPECT_EQ(0, blackboxPInterval);
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_FALSE(blackboxShouldLogPFrame());
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for (int ii = 0; ii < 7; ++ii) {
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blackboxAdvanceIterationTimers();
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EXPECT_FALSE(blackboxShouldLogIFrame());
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EXPECT_FALSE(blackboxShouldLogPFrame());
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}
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blackboxAdvanceIterationTimers();
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EXPECT_TRUE(blackboxShouldLogIFrame());
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EXPECT_FALSE(blackboxShouldLogPFrame());
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}
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TEST(BlackboxTest, Test_CalculatePDenom)
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{
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blackboxConfigMutable()->sample_rate = 0;
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// note I-frame is logged every 32ms regardless of PIDloop rate
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// 1kHz PIDloop
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targetPidLooptime = 1000;
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blackboxInit();
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EXPECT_EQ(32, blackboxIInterval);
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EXPECT_EQ(32, blackboxCalculatePDenom(1, 1)); // 1kHz logging
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EXPECT_EQ(16, blackboxCalculatePDenom(1, 2));
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EXPECT_EQ(8, blackboxCalculatePDenom(1, 4));
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// 2kHz PIDloop
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targetPidLooptime = 500;
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blackboxInit();
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EXPECT_EQ(64, blackboxIInterval);
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EXPECT_EQ(64, blackboxCalculatePDenom(1, 1));
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EXPECT_EQ(32, blackboxCalculatePDenom(1, 2)); // 1kHz logging
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EXPECT_EQ(16, blackboxCalculatePDenom(1, 4));
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// 4kHz PIDloop
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targetPidLooptime = 250;
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blackboxInit();
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EXPECT_EQ(128, blackboxIInterval);
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EXPECT_EQ(128, blackboxCalculatePDenom(1, 1));
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EXPECT_EQ(64, blackboxCalculatePDenom(1, 2));
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EXPECT_EQ(32, blackboxCalculatePDenom(1, 4)); // 1kHz logging
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EXPECT_EQ(16, blackboxCalculatePDenom(1, 8));
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// 8kHz PIDloop
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targetPidLooptime = 125;
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blackboxInit();
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EXPECT_EQ(256, blackboxIInterval);
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EXPECT_EQ(256, blackboxCalculatePDenom(1, 1));
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EXPECT_EQ(128, blackboxCalculatePDenom(1, 2));
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EXPECT_EQ(64, blackboxCalculatePDenom(1, 4));
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EXPECT_EQ(32, blackboxCalculatePDenom(1, 8)); // 1kHz logging
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EXPECT_EQ(16, blackboxCalculatePDenom(1, 16));
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}
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TEST(BlackboxTest, Test_CalculateRates)
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{
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// 1kHz PIDloop
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targetPidLooptime = 1000;
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blackboxConfigMutable()->sample_rate = 0;
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blackboxInit();
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EXPECT_EQ(32, blackboxIInterval);
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EXPECT_EQ(1, blackboxPInterval);
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EXPECT_EQ(1, blackboxGetRateDenom());
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blackboxConfigMutable()->sample_rate = 1;
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blackboxInit();
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EXPECT_EQ(32, blackboxIInterval);
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EXPECT_EQ(2, blackboxPInterval);
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EXPECT_EQ(2, blackboxGetRateDenom());
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blackboxConfigMutable()->sample_rate = 2;
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blackboxInit();
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EXPECT_EQ(32, blackboxIInterval);
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EXPECT_EQ(4, blackboxPInterval);
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EXPECT_EQ(4, blackboxGetRateDenom());
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// 8kHz PIDloop
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targetPidLooptime = 125;
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blackboxConfigMutable()->sample_rate = 3; // 1kHz logging
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blackboxInit();
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EXPECT_EQ(256, blackboxIInterval);
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EXPECT_EQ(8, blackboxPInterval);
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EXPECT_EQ(8, blackboxGetRateDenom());
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blackboxConfigMutable()->sample_rate = 4; // 500Hz logging
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blackboxInit();
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EXPECT_EQ(256, blackboxIInterval);
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EXPECT_EQ(16, blackboxPInterval);
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EXPECT_EQ(16, blackboxGetRateDenom());
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blackboxConfigMutable()->sample_rate = 2; // 2kHz logging
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blackboxInit();
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EXPECT_EQ(256, blackboxIInterval);
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EXPECT_EQ(4, blackboxPInterval);
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EXPECT_EQ(4, blackboxGetRateDenom());
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blackboxConfigMutable()->sample_rate = 1; // 4kHz logging
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blackboxInit();
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EXPECT_EQ(256, blackboxIInterval);
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EXPECT_EQ(2, blackboxPInterval);
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EXPECT_EQ(2, blackboxGetRateDenom());
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blackboxConfigMutable()->sample_rate = 0; // 8kHz logging
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blackboxInit();
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EXPECT_EQ(256, blackboxIInterval);
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EXPECT_EQ(1, blackboxPInterval);
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EXPECT_EQ(1, blackboxGetRateDenom());
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// 0.126 PIDloop = 7.94kHz
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targetPidLooptime = 126;
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blackboxConfigMutable()->sample_rate = 3; // 0.992kHz logging
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blackboxInit();
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EXPECT_EQ(253, blackboxIInterval);
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EXPECT_EQ(8, blackboxPInterval);
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EXPECT_EQ(8, blackboxGetRateDenom());
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}
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// STUBS
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extern "C" {
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PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
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PG_REGISTER(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
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PG_REGISTER(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
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PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
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PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
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PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
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uint8_t armingFlags;
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uint8_t stateFlags;
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const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000,
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400000, 460800, 500000, 921600, 1000000, 1500000, 2000000, 2470000}; // see baudRate_e
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uint8_t debugMode = 0;
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int16_t debug[DEBUG16_VALUE_COUNT];
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extern int32_t blackboxHeaderBudget;
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gpsSolutionData_t gpsSol;
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gpsLocation_t GPS_home_llh;
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gyro_t gyro;
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float motor_disarmed[MAX_SUPPORTED_MOTORS];
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struct pidProfile_s;
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struct pidProfile_s *currentPidProfile;
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uint32_t targetPidLooptime;
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boxBitmask_t rcModeActivationMask;
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void mspSerialAllocatePorts(void) {}
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uint32_t getArmingBeepTimeMicros(void) {return 0;}
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uint16_t getBatteryVoltageLatest(void) {return 0;}
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bool hasServos(void) { return false; }
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uint8_t getMotorCount(void) {return 4;}
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bool areMotorsRunning(void) { return false; }
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bool IS_RC_MODE_ACTIVE(boxId_e) {return false;}
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bool isModeActivationConditionPresent(boxId_e) {return false;}
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uint32_t millis(void) {return 0;}
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bool sensors(uint32_t) {return false;}
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void serialWrite(serialPort_t *, uint8_t) {}
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uint32_t serialTxBytesFree(const serialPort_t *) {return 0;}
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bool isSerialTransmitBufferEmpty(const serialPort_t *) {return false;}
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bool featureIsEnabled(uint32_t) {return false;}
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void mspSerialReleasePortIfAllocated(serialPort_t *) {}
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const serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
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serialPort_t *findSharedSerialPort(uint16_t , serialPortFunction_e ) {return NULL;}
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serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
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void closeSerialPort(serialPort_t *) {}
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portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e ) {return PORTSHARING_UNUSED;}
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failsafePhase_e failsafePhase(void) {return FAILSAFE_IDLE;}
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bool rxAreFlightChannelsValid(void) {return false;}
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bool isRxReceivingSignal(void) {return false;}
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bool isRssiConfigured(void) {return false;}
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float getMotorOutputLow(void) {return 0.0;}
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float getMotorOutputHigh(void) {return 0.0;}
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}
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