PID auto tune

firmware/controllers/math/pid_auto_tune.cpp

@@ -75,9 +75,9 @@ int PID_AutoTune::Runtime(Logging *logging) {
 	for (int i = nLookBack - 1; i >= 0; i--) {
 		float val = lastInputs[i];
 		if (isMax)
-			isMax = input > val;
+			isMax = input >= val;
 		if (isMin)
-			isMin = input < val;
+			isMin = input <= val;
 		lastInputs[i + 1] = lastInputs[i];
 	}
 	lastInputs[0] = input;

unit_tests/test_pid_auto.cpp

@@ -8,6 +8,7 @@
 
 #include "main.h"
 #include "test_pid_auto.h"
+#include "pid_auto_tune.h"
 
 efitimems_t mockTimeMs = 0;
 
@@ -15,7 +16,53 @@ efitimems_t currentTimeMillis(void) {
 	return mockTimeMs;
 }
 
+Logging logging;
+
+static zigZagValue(int index) {
+	int i = index % 20;
+	if ( i <= 10)
+		 return i * 10;
+	return (20 - i) * 10;
+
+}
+
 void testPidAutoZigZag() {
 	mockTimeMs = 0;
 
+	PID_AutoTune at;
+
+	at.outputStart = 50;
+
+	at.input = zigZagValue(mockTimeMs);
+	at.Runtime(&logging);
+
+	mockTimeMs++;
+	at.input = zigZagValue(mockTimeMs);
+	at.Runtime(&logging);
+	assertEqualsLM("min@1", 0, at.absMin);
+	assertEqualsLM("max@1", 10, at.absMax);
+	assertEqualsM("peakCount", 0, at.peakCount);
+
+	for (;mockTimeMs<=11;mockTimeMs++) {
+		at.input = zigZagValue(mockTimeMs);
+		at.Runtime(&logging);
+
+	}
+	assertEqualsLM("min@11", 0, at.absMin);
+	assertEqualsLM("max@11", 100, at.absMax);
+	assertEqualsM("peakCount", 0, at.peakCount);
+
+	for (;mockTimeMs<=21;mockTimeMs++) {
+		at.input = zigZagValue(mockTimeMs);
+		at.Runtime(&logging);
+	}
+	assertEqualsM("peakCount", 1, at.peakCount);
+
+	for (;mockTimeMs<=41;mockTimeMs++) {
+		at.input = zigZagValue(mockTimeMs);
+		at.Runtime(&logging);
+	}
+	assertEqualsM("peakCount", 2, at.peakCount);
+
+
 }