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PidIndustrial does not limit iTerm #1599 

confirming issue with a unit test
This commit is contained in:
rusefi 2020-07-11 15:19:27 -04:00
parent 88bbd25042
commit 84ebfe301a
1 changed files with 33 additions and 17 deletions
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50
unit_tests/tests/test_pid.cpp
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@ -62,31 +62,47 @@ TEST(util, pid) {
ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
ASSERT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm";
}
TEST(util, pidLimits) {
static void commonPidTestParameters(pid_s * pidS) {
pidS->pFactor = 0;
pidS->iFactor = 50;
pidS->dFactor = 0;
pidS->offset = 0;
pidS->minValue = 10;
pidS->maxValue = 40;
pidS->periodMs = 1;
}
static void commonPidTest(Pid *pid) {
pid->iTermMax = 45;
ASSERT_EQ( 12.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #0";
ASSERT_EQ( 12.5, pid->getIntegration());
ASSERT_EQ( 25 , pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #1";
ASSERT_EQ( 37.5, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #2";
ASSERT_EQ( 37.5, pid->getIntegration());
ASSERT_EQ( 40.0, pid->getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #3";
ASSERT_EQ( 45, pid->getIntegration());
}
TEST(util, parallelPidLimits) {
pid_s pidS;
pidS.pFactor = 0;
pidS.iFactor = 50;
pidS.dFactor = 0;
pidS.offset = 0;
pidS.minValue = 10;
pidS.maxValue = 40;
pidS.periodMs = 1;
commonPidTestParameters(&pidS);
Pid pid(&pidS);
commonPidTest(&pid);
}
pid.iTermMax = 45;
ASSERT_EQ( 12.5, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #0";
ASSERT_EQ( 25 , pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #1";
ASSERT_EQ( 37.5, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #2";
ASSERT_EQ( 40.0, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0 #3";
TEST(util, industrialPidLimits) {
pid_s pidS;
commonPidTestParameters(&pidS);
PidIndustrial pid(&pidS);
// todo: #1599
// commonPidTest(&pid);
}
TEST(util, pidIndustrial) {