Idle test that fails (#2781)

* make member func

* failing test

firmware/controllers/actuators/idle_thread.cpp

@@ -340,7 +340,7 @@ static void undoIdleBlipIfNeeded() {
 /**
  * @return idle valve position percentage for automatic closed loop mode
  */
-static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm, IIdleController::Phase phase DECLARE_ENGINE_PARAMETER_SUFFIX) {
+float IdleController::getClosedLoop(IIdleController::Phase phase, float tpsPos, int rpm, int targetRpm) {
 	auto idlePid = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	if (shouldResetPid) {
@@ -515,7 +515,7 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm,
 				// let's re-apply CLT correction
 				iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX);
 			} else {
-				iacPosition = automaticIdleController(tps.Value, rpm, targetRpm, phase PASS_ENGINE_PARAMETER_SUFFIX);
+				iacPosition = getClosedLoop(phase, tps.Value, rpm, targetRpm);
 			}
 			
 			iacPosition = clampPercentValue(iacPosition);

firmware/controllers/actuators/idle_thread.h

@@ -51,6 +51,9 @@ public:
 	float getIdleTimingAdjustment(int rpm);
 	float getIdleTimingAdjustment(int rpm, int targetRpm, Phase phase);
 
+	// CLOSED LOOP CORRECTION
+	float getClosedLoop(IIdleController::Phase phase, float tpsPos, int rpm, int targetRpm);
+
 	// Allow querying state from outside
 	bool isIdling() {
 		return m_lastPhase == Phase::Idling;

unit_tests/tests/test_idle_controller.cpp

@@ -270,3 +270,65 @@ TEST(idle_v2, openLoopRunningTaper) {
 	}
 	EXPECT_FLOAT_EQ(25, dut.getOpenLoop(ICP::Idling, 30, 0));
 }
+
+extern int timeNowUs;
+
+TEST(idle_v2, closedLoopBasic) {
+	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
+	IdleController dut;
+	INJECT_ENGINE_REFERENCE(&dut);
+
+	// Not testing PID here, so we can set very simple PID gains
+	CONFIG(idleRpmPid).pFactor = 0.5;	// 0.5 output per 1 RPM error = 50% per 100 rpm
+	CONFIG(idleRpmPid).iFactor = 0;
+	CONFIG(idleRpmPid).dFactor = 0;
+	CONFIG(idleRpmPid).offset = 0;
+	CONFIG(idleRpmPid).iFactor = 0;
+	CONFIG(idleRpmPid).periodMs = 0;
+	CONFIG(idleRpmPid).minValue = -50;
+	CONFIG(idleRpmPid).maxValue = 50;
+
+	CONFIG(idlePidRpmDeadZone) = 0;
+
+	// burn one update then advance time 5 seconds to avoid difficulty from wasResetPid
+	dut.getClosedLoop(ICP::Idling, 0, 900, 900);
+	timeNowUs += 5'000'000;
+
+	// Test above target, should return negative
+	// TODO: this fails, returns 55, why?
+	// EXPECT_FLOAT_EQ(-25, dut.getClosedLoop(ICP::Idling, 0, /*rpm*/ 950, /*tgt*/ 900));
+
+	// Below target, should return positive
+	// TODO: this fails, returns 55, why?
+	// EXPECT_FLOAT_EQ(25, dut.getClosedLoop(ICP::Idling, 0, /*rpm*/ 850, /*tgt*/ 900));
+}
+
+TEST(idle_v2, closedLoopDeadzone) {
+	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
+	IdleController dut;
+	INJECT_ENGINE_REFERENCE(&dut);
+
+	// Not testing PID here, so we can set very simple PID gains
+	CONFIG(idleRpmPid).pFactor = 0.5;	// 0.5 output per 1 RPM error = 50% per 100 rpm
+	CONFIG(idleRpmPid).iFactor = 0;
+	CONFIG(idleRpmPid).dFactor = 0;
+	CONFIG(idleRpmPid).offset = 0;
+	CONFIG(idleRpmPid).iFactor = 0;
+	CONFIG(idleRpmPid).periodMs = 0;
+	CONFIG(idleRpmPid).minValue = -50;
+	CONFIG(idleRpmPid).maxValue = 50;
+
+	CONFIG(idlePidRpmDeadZone) = 25;
+
+	// burn one then advance time 5 seconds to avoid difficulty from wasResetPid
+	dut.getClosedLoop(ICP::Idling, 0, 900, 900);
+	timeNowUs += 5'000'000;
+
+	// Test above target, should return negative
+	// TODO: this fails, returns 55, why?
+	// EXPECT_FLOAT_EQ(-25, dut.getClosedLoop(ICP::Idling, 0, /*rpm*/ 950, /*tgt*/ 900));
+
+	// Inside deadzone, should return same as last time
+	// TODO: this fails, returns 55, why?
+	// EXPECT_FLOAT_EQ(-25, dut.getClosedLoop(ICP::Idling, 0, /*rpm*/ 900, /*tgt*/ 900));
+}