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

PID controller unittest

This commit is contained in:
borisbstyle 2018-04-06 07:15:03 +02:00
parent c1fa9a610b
commit 8fab0fee11
4 changed files with 491 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
src/main/flight/pid.c
View File

@ -436,7 +436,7 @@ static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPit
static float accelerationLimit(int axis, float currentPidSetpoint)
{
static float previousSetpoint[3];
const float currentVelocity = currentPidSetpoint- previousSetpoint[axis];
const float currentVelocity = currentPidSetpoint - previousSetpoint[axis];
if (ABS(currentVelocity) > maxVelocity[axis]) {
currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
@ -538,19 +538,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
static float previousGyroRateDterm[2];
static float previousPidSetpoint[2];
// Disable PID control if at zero throttle or if gyro overflow detected
if (!pidStabilisationEnabled || gyroOverflowDetected()) {
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
pidData[axis].P = 0;
pidData[axis].I = 0;
pidData[axis].D = 0;
pidData[axis].Sum = 0;
}
return;
}
const float tpaFactor = getThrottlePIDAttenuation();
const float motorMixRange = getMotorMixRange();
@ -640,6 +627,18 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// YAW has no D
pidData[FD_YAW].Sum = pidData[FD_YAW].P + pidData[FD_YAW].I;
// Disable PID control if at zero throttle or if gyro overflow detected
// This may look very innefficient, but it is done on purpose to always show real CPU usage as in flight
if (!pidStabilisationEnabled || gyroOverflowDetected()) {
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
pidData[axis].P = 0;
pidData[axis].I = 0;
pidData[axis].D = 0;
pidData[axis].Sum = 0;
}
}
}
bool crashRecoveryModeActive(void)

8
src/test/Makefile
View File

@ -294,6 +294,14 @@ rcdevice_unittest_SRC := \
$(USER_DIR)/io/rcdevice_osd.c \
$(USER_DIR)/io/rcdevice_cam.c \
pid_unittest_SRC := \
$(USER_DIR)/common/filter.c \
$(USER_DIR)/common/maths.c \
$(USER_DIR)/drivers/accgyro/gyro_sync.c \
$(USER_DIR)/flight/pid.c \
$(USER_DIR)/pg/pg.c \
$(USER_DIR)/fc/runtime_config.c
rcdevice_unittest_DEFINES := \
USE_RCDEVICE

469
src/test/unit/pid_unittest.cc Normal file
View File

@ -0,0 +1,469 @@
/*
* 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"
bool simulateMixerSaturated = false;
float simulatedSetpointRate[3] = { 0,0,0 };
float simulatedRcDeflection[3] = { 0,0,0 };
float simulatedThrottlePIDAttenuation = 1.0f;
float simulatedMotorMixRange = 0.0f;
extern "C" {
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "config/config_reset.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "drivers/sound_beeper.h"
#include "drivers/time.h"
#include "fc/fc_core.h"
#include "fc/fc_rc.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "io/gps.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
gyro_t gyro;
attitudeEulerAngles_t attitude;
int16_t GPS_angle[ANGLE_INDEX_COUNT];
float getThrottlePIDAttenuation(void) { return simulatedThrottlePIDAttenuation; }
float getMotorMixRange(void) { return simulatedMotorMixRange; }
float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
bool mixerIsOutputSaturated(int, float) { return simulateMixerSaturated; }
float getRcDeflectionAbs(int axis) { return ABS(simulatedRcDeflection[axis]); }
void systemBeep(bool) { }
bool gyroOverflowDetected(void) { return false; }
float getRcDeflection(int axis) { return simulatedRcDeflection[axis]; }
void beeperConfirmationBeeps(uint8_t) { }
}
pidProfile_t *pidProfile;
rollAndPitchTrims_t rollAndPitchTrims = { { 0, 0 } };
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 };
pidProfile->pid[PID_PITCH] = { 58, 50, 35 };
pidProfile->pid[PID_YAW] = { 70, 45, 20 };
pidProfile->pid[PID_LEVEL] = { 50, 50, 75 };
pidProfile->pidSumLimit = PIDSUM_LIMIT;
pidProfile->pidSumLimitYaw = PIDSUM_LIMIT_YAW;
pidProfile->yaw_lowpass_hz = 0;
pidProfile->dterm_lowpass_hz = 100;
pidProfile->dterm_lowpass2_hz = 0;
pidProfile->dterm_notch_hz = 260;
pidProfile->dterm_notch_cutoff = 160;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->itermWindupPointPercent = 50;
pidProfile->vbatPidCompensation = 0;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->levelAngleLimit = 55;
pidProfile->setpointRelaxRatio = 100;
pidProfile->dtermSetpointWeight = 0;
pidProfile->yawRateAccelLimit = 100;
pidProfile->rateAccelLimit = 0;
pidProfile->itermThrottleThreshold = 350;
pidProfile->itermAcceleratorGain = 1000;
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_tilt_effect = 75;
pidProfile->horizon_tilt_expert_mode = false;
pidProfile->crash_limit_yaw = 200;
pidProfile->itermLimit = 150;
pidProfile->throttle_boost = 0;
pidProfile->throttle_boost_cutoff = 15;
pidProfile->iterm_rotation = false;
gyro.targetLooptime = 4000;
}
timeUs_t currentTestTime(void) {
return targetPidLooptime * loopIter++;
}
void resetTest(void) {
loopIter = 0;
simulateMixerSaturated = false;
simulatedThrottlePIDAttenuation = 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].Sum = 0;
simulatedSetpointRate[axis] = 0;
simulatedRcDeflection[axis] = 0;
gyro.gyroADCf[axis] = 0;
}
attitude.values.roll = 0;
attitude.values.pitch = 0;
attitude.values.yaw = 0;
flightModeFlags = 0;
pidInit(pidProfile);
// Run pidloop for a while after reset
for (int loop = 0; loop < 20; loop++) {
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
}
}
void setStickPosition(int axis, float stickRatio) {
simulatedSetpointRate[axis] = 1998.0f * stickRatio;
simulatedRcDeflection[axis] = stickRatio;
}
// All calculations will have 10% tolerance
float calculateTolerance(float input) {
return fabs(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, &rollAndPitchTrims, 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, &rollAndPitchTrims, 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, &rollAndPitchTrims, currentTestTime());
// Loop 2 - Expect PID loop reaction to ROLL error
ASSERT_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);
ASSERT_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);
ASSERT_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, &rollAndPitchTrims, currentTestTime());
// Loop 3 - Expect PID loop reaction to PITCH error, ROLL is still in error
ASSERT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
ASSERT_NEAR(185.8, pidData[FD_PITCH].P, calculateTolerance(185.8));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
ASSERT_NEAR(-15.6, pidData[FD_ROLL].I, calculateTolerance(-15.6));
ASSERT_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);
ASSERT_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
gyro.gyroADCf[FD_YAW] = 100;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// Loop 4 - Expect PID loop reaction to PITCH error, ROLL and PITCH are still in error
ASSERT_NEAR(-128.1, pidData[FD_ROLL].P, calculateTolerance(-128.1));
ASSERT_NEAR(185.8, pidData[FD_PITCH].P, calculateTolerance(185.8));
ASSERT_NEAR(-224.2, pidData[FD_YAW].P, calculateTolerance(-224.2));
ASSERT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
ASSERT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
ASSERT_NEAR(-8.7, pidData[FD_YAW].I, calculateTolerance(-8.7));
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].D);
// Match the stick to gyro to stop error
simulatedSetpointRate[FD_ROLL] = 100;
simulatedSetpointRate[FD_PITCH] = -100;
simulatedSetpointRate[FD_YAW] = 100;
for(int loop = 0; loop < 5; loop++) {
pidController(pidProfile, &rollAndPitchTrims, 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);
ASSERT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
ASSERT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
ASSERT_NEAR(-10.6, pidData[FD_YAW].I, calculateTolerance(-10.5));
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, &rollAndPitchTrims, 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);
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// Loop 1
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 attitude response
setStickPosition(FD_ROLL, 1.0f);
setStickPosition(FD_PITCH, -1.0f);
attitude.values.roll = 550;
attitude.values.pitch = -550;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// Loop 2
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);
// Disable ANGLE_MODE on full stick inputs
disableFlightMode(ANGLE_MODE);
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// Expect full rate output
ASSERT_NEAR(2559.8, pidData[FD_ROLL].P, calculateTolerance(2559.8));
ASSERT_NEAR(-3711.6, pidData[FD_PITCH].P, calculateTolerance(-3711.6));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
ASSERT_NEAR(150, pidData[FD_ROLL].I, calculateTolerance(150));
ASSERT_NEAR(-150, pidData[FD_PITCH].I, calculateTolerance(-150));
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, testPidHorizon) {
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
enableFlightMode(HORIZON_MODE);
// Loop 1
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 full stick response
setStickPosition(FD_ROLL, 1.0f);
setStickPosition(FD_PITCH, -1.0f);
attitude.values.roll = 550;
attitude.values.pitch = -550;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// Expect full rate output on full stick
ASSERT_NEAR(2559.8, pidData[FD_ROLL].P, calculateTolerance(2559.8));
ASSERT_NEAR(-3711.6, pidData[FD_PITCH].P, calculateTolerance(-3711.6));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
ASSERT_NEAR(150, pidData[FD_ROLL].I, calculateTolerance(150));
ASSERT_NEAR(-150, pidData[FD_PITCH].I, calculateTolerance(-150));
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 full stick response
setStickPosition(FD_ROLL, 0.1f);
setStickPosition(FD_PITCH, -0.1f);
attitude.values.roll = 536;
attitude.values.pitch = -536;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
ASSERT_NEAR(0.75, pidData[FD_ROLL].P, calculateTolerance(0.75));
ASSERT_NEAR(-1.09, pidData[FD_PITCH].P, calculateTolerance(-1.09));
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
ASSERT_NEAR(150, pidData[FD_ROLL].I, calculateTolerance(150));
ASSERT_NEAR(-150, pidData[FD_PITCH].I, calculateTolerance(-150));
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, testMixerSaturation) {
resetTest();
ENABLE_ARMING_FLAG(ARMED);
pidStabilisationState(PID_STABILISATION_ON);
// Test full stick response
setStickPosition(FD_ROLL, 1.0f);
setStickPosition(FD_PITCH, -1.0f);
simulateMixerSaturated = true;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
// Expect no iterm accumulation
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);
}
// 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];
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
}
EXPECT_TRUE(crashRecoveryModeActive());
// Add additional verifications
}
TEST(pidControllerTest, pidSetpointTransition) {
// TODO
}
TEST(pidControllerTest, testDtermFiltering) {
// TODO
}
TEST(pidControllerTest, testItermRotationHandling) {
// TODO
}

1
src/test/unit/platform.h
View File

@ -28,6 +28,7 @@
#define NOINLINE
#define FAST_CODE
#define FAST_RAM
#define FAST_RAM_INITIALIZED
#define MAX_PROFILE_COUNT 3
#define USE_MAG