rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

First cut of custom motor and servo mixer test. 

Note: The test is rather heavyweight, more like an integration test than
a unit test, but will allow for the underlying code to be refactored.
This commit is contained in:
Dominic Clifton 2015-07-14 23:02:32 +01:00
parent 4fc7d517bf
commit 5be2276b6b
4 changed files with 187 additions and 40 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
src/main/flight/mixer.c
View File

@ -53,44 +53,9 @@
#include "config/runtime_config.h"
#include "config/config.h"
typedef enum {
SERVO_GIMBAL_PITCH = 0,
SERVO_GIMBAL_ROLL = 1,
SERVO_FLAPS = 2,
SERVO_FLAPPERON_1 = 3,
SERVO_FLAPPERON_2 = 4,
SERVO_RUDDER = 5,
SERVO_ELEVATOR = 6,
SERVO_THROTTLE = 7, // for internal combustion (IC) planes
SERVO_BICOPTER_LEFT = 4,
SERVO_BICOPTER_RIGHT = 5,
SERVO_DUALCOPTER_LEFT = 4,
SERVO_DUALCOPTER_RIGHT = 5,
SERVO_SINGLECOPTER_1 = 3,
SERVO_SINGLECOPTER_2 = 4,
SERVO_SINGLECOPTER_3 = 5,
SERVO_SINGLECOPTER_4 = 6,
} servoIndex_e;
#define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
#define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
#define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
#define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
#define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
#define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
//#define MIXER_DEBUG
uint8_t motorCount = 0;
uint8_t motorCount;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@ -449,6 +414,7 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
{
int i;
motorCount = 0;
servoCount = pwmOutputConfiguration->servoCount;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
@ -695,7 +661,7 @@ void StopPwmAllMotors()
}
#ifndef USE_QUAD_MIXER_ONLY
static void servoMixer(void)
STATIC_UNIT_TESTED void servoMixer(void)
{
int16_t input[INPUT_SOURCE_COUNT]; // Range [-500:+500]
static int16_t currentOutput[MAX_SERVO_RULES];

36
src/main/flight/mixer.h
View File

@ -114,6 +114,42 @@ enum {
INPUT_SOURCE_COUNT
} inputSource_e;
// target servo channels
typedef enum {
SERVO_GIMBAL_PITCH = 0,
SERVO_GIMBAL_ROLL = 1,
SERVO_FLAPS = 2,
SERVO_FLAPPERON_1 = 3,
SERVO_FLAPPERON_2 = 4,
SERVO_RUDDER = 5,
SERVO_ELEVATOR = 6,
SERVO_THROTTLE = 7, // for internal combustion (IC) planes
SERVO_BICOPTER_LEFT = 4,
SERVO_BICOPTER_RIGHT = 5,
SERVO_DUALCOPTER_LEFT = 4,
SERVO_DUALCOPTER_RIGHT = 5,
SERVO_SINGLECOPTER_1 = 3,
SERVO_SINGLECOPTER_2 = 4,
SERVO_SINGLECOPTER_3 = 5,
SERVO_SINGLECOPTER_4 = 6,
} servoIndex_e; // FIXME rename to servoChannel_e
#define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
#define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
#define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
#define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
#define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
#define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
typedef struct servoMixer_t {
uint8_t targetChannel; // servo that receives the output of the rule
uint8_t inputSource; // input channel for this rule

12
src/main/io/rc_controls.c
View File

@ -23,6 +23,8 @@
#include "platform.h"
#include "build_config.h"
#include "common/axis.h"
#include "common/maths.h"
@ -70,7 +72,10 @@ uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
#ifdef BLACKBOX
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
@ -82,7 +87,10 @@ void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction,
}
void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
#ifdef BLACKBOX
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newFloatValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;

139
src/test/unit/flight_mixer_unittest.cc
View File

@ -77,6 +77,9 @@ uint8_t lastOneShotUpdateMotorCount;
uint32_t testFeatureMask = 0;
int updatedServoCount;
int updatedMotorCount;
TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithNoServos)
{
@ -148,11 +151,14 @@ TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithLessRemainingServosThanA
TEST(FlightMixerTest, TestTricopterServo)
{
// given
updatedServoCount = 0;
mixerConfig_t mixerConfig;
memset(&mixerConfig, 0, sizeof(mixerConfig));
rxConfig_t rxConfig;
memset(&rxConfig, 0, sizeof(rxConfig));
rxConfig.midrc = 1500;
mixerConfig.tri_unarmed_servo = 1;
@ -205,18 +211,20 @@ TEST(FlightMixerTest, TestTricopterServo)
memset(axisPID, 0, sizeof(axisPID));
axisPID[YAW] = 0;
// when
mixTable();
writeServos();
// then
EXPECT_EQ(1, updatedServoCount);
EXPECT_EQ(TEST_SERVO_MID, servos[0].value);
}
TEST(FlightMixerTest, TestQuadMotors)
{
// given
updatedMotorCount = 0;
mixerConfig_t mixerConfig;
memset(&mixerConfig, 0, sizeof(mixerConfig));
@ -274,12 +282,139 @@ TEST(FlightMixerTest, TestQuadMotors)
writeMotors();
// then
EXPECT_EQ(4, updatedMotorCount);
EXPECT_EQ(TEST_MIN_COMMAND, motors[0].value);
EXPECT_EQ(TEST_MIN_COMMAND, motors[1].value);
EXPECT_EQ(TEST_MIN_COMMAND, motors[2].value);
EXPECT_EQ(TEST_MIN_COMMAND, motors[3].value);
}
class CustomMixerTest : public ::testing::Test {
protected:
// given
mixerConfig_t mixerConfig;
rxConfig_t rxConfig;
servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
escAndServoConfig_t escAndServoConfig;
gimbalConfig_t gimbalConfig;
motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
servoMixer_t customServoMixer[MAX_SUPPORTED_SERVOS];
virtual void SetUp() {
updatedServoCount = 0;
updatedMotorCount = 0;
memset(&rcData, 0, sizeof(rcData));
memset(&rcCommand, 0, sizeof(rcCommand));
memset(&mixerConfig, 0, sizeof(mixerConfig));
memset(&rxConfig, 0, sizeof(rxConfig));
rxConfig.midrc = 1500;
memset(&servoConf, 0, sizeof(servoConf));
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servoConf[i].min = DEFAULT_SERVO_MIN;
servoConf[i].max = DEFAULT_SERVO_MAX;
servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
servoConf[i].rate = 100;
servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
memset(&escAndServoConfig, 0, sizeof(escAndServoConfig));
escAndServoConfig.mincommand = TEST_MIN_COMMAND;
gimbalConfig.mode = GIMBAL_MODE_NORMAL;
mixerUseConfigs(
servoConf,
&gimbalConfig,
NULL,
&escAndServoConfig,
&mixerConfig,
NULL,
&rxConfig
);
memset(&customMotorMixer, 0, sizeof(customMotorMixer));
memset(&customServoMixer, 0, sizeof(customServoMixer));
}
};
TEST_F(CustomMixerTest, TestCustomMixer)
{
// given
enum {
EXPECTED_SERVOS_TO_MIX_COUNT = 6,
EXPECTED_MOTORS_TO_MIX_COUNT = 2
};
servoMixer_t testServoMixer[EXPECTED_SERVOS_TO_MIX_COUNT] = {
{ SERVO_FLAPS, INPUT_RC_AUX1, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_ELEVATOR, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
};
memcpy(customServoMixer, testServoMixer, sizeof(testServoMixer));
static const motorMixer_t testMotorMixer[EXPECTED_MOTORS_TO_MIX_COUNT] = {
{ 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT
};
memcpy(customMotorMixer, testMotorMixer, sizeof(testMotorMixer));
mixerInit(MIXER_CUSTOM_AIRPLANE, customMotorMixer, customServoMixer);
pwmOutputConfiguration_t pwmOutputConfiguration = {
.servoCount = 6,
.motorCount = 2
};
mixerUsePWMOutputConfiguration(&pwmOutputConfiguration);
// and
rcCommand[THROTTLE] = 1000;
// and
rcData[AUX1] = 2000;
// and
memset(axisPID, 0, sizeof(axisPID));
axisPID[YAW] = 0;
// when
mixTable();
writeMotors();
writeServos();
// then
EXPECT_EQ(EXPECTED_MOTORS_TO_MIX_COUNT, updatedMotorCount);
EXPECT_EQ(TEST_MIN_COMMAND, motors[0].value);
EXPECT_EQ(TEST_MIN_COMMAND, motors[1].value);
EXPECT_EQ(EXPECTED_SERVOS_TO_MIX_COUNT, updatedServoCount);
EXPECT_EQ(2000, servos[0].value); // Flaps
EXPECT_EQ(TEST_SERVO_MID, servos[1].value);
EXPECT_EQ(TEST_SERVO_MID, servos[2].value);
EXPECT_EQ(TEST_SERVO_MID, servos[3].value);
EXPECT_EQ(TEST_SERVO_MID, servos[4].value);
EXPECT_EQ(1000, servos[5].value); // Throttle
}
// STUBS
extern "C" {
@ -309,6 +444,7 @@ int32_t lowpassFixed(lowpass_t *, int32_t, int16_t) {
void pwmWriteMotor(uint8_t index, uint16_t value) {
motors[index].value = value;
updatedMotorCount++;
}
void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
@ -332,6 +468,7 @@ void pwmWriteServo(uint8_t index, uint16_t value) {
if (index < MAX_SERVOS) {
servos[index].value = value;
}
updatedServoCount++;
}
bool failsafeIsActive(void) {