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etb jam tests #6925

This commit is contained in:
Andrey 2024-10-09 18:38:56 -04:00 committed by rusefillc
parent 3ee894594d
commit c1c068d509
1 changed files with 10 additions and 24 deletions
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34
unit_tests/tests/actuators/test_etb.cpp
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@ -732,6 +732,8 @@ TEST(etb, setOutputLimpHome) {
}
TEST(etb, closedLoopPid) {
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
pid_s pid = {};
pid.pFactor = 5;
pid.maxValue = 75;
@ -746,9 +748,7 @@ TEST(etb, closedLoopPid) {
etb.init(DC_Throttle1, nullptr, &pid, nullptr, true);
// Disable autotune for now
Engine e;
EngineTestHelperBase base(&e, nullptr, nullptr);
e.etbAutoTune = false;
engine->etbAutoTune = false;
// Setpoint greater than actual, should be positive output
EXPECT_FLOAT_EQ(etb.getClosedLoop(50, 40).value_or(-1), 50);
@ -763,15 +763,6 @@ TEST(etb, closedLoopPid) {
TEST(etb, jamDetection) {
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
pid_s pid = {};
// I-only since we're testing out the integrator
pid.pFactor = 0;
pid.iFactor = 1;
pid.dFactor = 0;
pid.maxValue = 50;
pid.minValue = -50;
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1Primary, 0);
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
@ -782,32 +773,27 @@ TEST(etb, jamDetection) {
engineConfiguration->etbJamTimeout = 1;
EtbController etb;
etb.init(DC_Throttle1, nullptr, &pid, nullptr, true);
etb.init(DC_Throttle1, nullptr, nullptr, nullptr, true);
setTimeNowUs(0);
// Reset timer while under integrator limit
EXPECT_EQ(etb.getPidState().iTerm, 0);
etb.checkOutput(0);
// Reset timer while under error limit
etb.checkJam(10, 14);
EXPECT_EQ(etb.jamTimer, 0);
EXPECT_FALSE(etb.jamDetected);
for (size_t i = 0; i < ETB_LOOP_FREQUENCY; i++) {
// Error of 10, should accumulate 10 integrator per second
etb.getClosedLoop(50, 40);
}
EXPECT_NEAR(etb.getPidState().iTerm, 10.0f, 1e-3);
// Start a jam
etb.checkJam(10, 16);
// Just under time limit, no jam yet
setTimeNowUs(0.9e6);
etb.checkOutput(0);
etb.checkJam(10, 16);
EXPECT_NEAR(etb.jamTimer, 0.9f, 1e-3);
EXPECT_FALSE(etb.jamDetected);
// Above the time limit, jam detected!
setTimeNowUs(1.1e6);
etb.checkOutput(0);
etb.checkJam(10, 16);
EXPECT_TRUE(etb.jamDetected);
}