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Merge pull request #424 from avoid3d/test-inclination-angle 

Test inclination angle
This commit is contained in:
Dominic Clifton 2015-01-27 01:09:05 +01:00
parent 5f0762c62d 8d4f47ff35
commit 90b012bc06
2 changed files with 36 additions and 1 deletions
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6
src/main/flight/altitudehold.c
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@ -175,12 +175,16 @@ bool isThrustFacingDownwards(rollAndPitchInclination_t *inclination)
return ABS(inclination->values.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && ABS(inclination->values.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
}
/*
* This (poorly named) function merely returns whichever is higher, roll inclination or pitch inclination.
* //TODO: Fix this up. We could either actually return the angle between 'down' and the normal of the craft
* (my best interpretation of scalar 'tiltAngle') or rename the function.
*/
int16_t calculateTiltAngle(rollAndPitchInclination_t *inclination)
{
return MAX(ABS(inclination->values.rollDeciDegrees), ABS(inclination->values.pitchDeciDegrees));
}
int32_t calculateAltHoldThrottleAdjustment(int32_t vel_tmp, float accZ_tmp, float accZ_old)
{
int32_t result = 0;

31
src/test/unit/altitude_hold_unittest.cc
View File

@ -54,6 +54,7 @@ extern "C" {
extern "C" {
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
uint16_t calculateTiltAngle(rollAndPitchInclination_t *inclinations);
}
typedef struct inclinationExpectation_s {
@ -90,6 +91,36 @@ TEST(AltitudeHoldTest, IsThrustFacingDownwards)
}
}
typedef struct inclinationAngleExpectations_s {
rollAndPitchInclination_t inclination;
uint16_t expected_angle;
} inclinationAngleExpectations_t;
TEST(AltitudeHoldTest, TestCalculateTiltAngle)
{
inclinationAngleExpectations_t inclinationAngleExpectations[] = {
{ {0, 0}, 0},
{ {1, 0}, 1},
{ {0, 1}, 1},
{ {0, -1}, 1},
{ {-1, 0}, 1},
{ {-1, -2}, 2},
{ {-2, -1}, 2},
{ {1, 2}, 2},
{ {2, 1}, 2}
};
rollAndPitchInclination_t inclination = {0, 0};
uint16_t tilt_angle = calculateTiltAngle(&inclination);
EXPECT_EQ(tilt_angle, 0);
for (uint8_t i = 0; i < 9; i++) {
inclinationAngleExpectations_t *expectation = &inclinationAngleExpectations[i];
uint16_t result = calculateTiltAngle(&expectation->inclination);
EXPECT_EQ(expectation->expected_angle, result);
}
}
// STUBS
extern "C" {