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This commit is contained in:
rusefi 2017-09-17 19:34:50 -04:00
parent 64162b2719
commit 32bae64925
1 changed files with 15 additions and 7 deletions
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22
unit_tests/test_pid_auto.cpp
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@ -5,7 +5,6 @@
* @author Andrey Belomutskiy, (c) 2012-2017 * @author Andrey Belomutskiy, (c) 2012-2017
*/ */
#include "main.h" #include "main.h"
#include "test_pid_auto.h" #include "test_pid_auto.h"
#include "pid_auto_tune.h" #include "pid_auto_tune.h"
@ -18,11 +17,12 @@ efitimems_t currentTimeMillis(void) {
Logging logging; Logging logging;
static float zigZagOffset = 0;
static zigZagValue(int index) { static zigZagValue(int index) {
int i = index % 20; int i = index % 20;
if ( i <= 10) if ( i <= 10)
return i * 10; return i * 10 + zigZagOffset;
return (20 - i) * 10; return (20 - i) * 10 + zigZagOffset;
} }
@ -43,7 +43,7 @@ void testPidAutoZigZag() {
assertEqualsLM("max@1", 10, at.absMax); assertEqualsLM("max@1", 10, at.absMax);
assertEqualsM("peakCount", 0, at.peakCount); assertEqualsM("peakCount", 0, at.peakCount);
for (;mockTimeMs<=11;mockTimeMs++) { for (; mockTimeMs <= 11; mockTimeMs++) {
at.input = zigZagValue(mockTimeMs); at.input = zigZagValue(mockTimeMs);
at.Runtime(&logging); at.Runtime(&logging);
@ -52,24 +52,32 @@ void testPidAutoZigZag() {
assertEqualsLM("max@11", 100, at.absMax); assertEqualsLM("max@11", 100, at.absMax);
assertEqualsM("peakCount", 0, at.peakCount); assertEqualsM("peakCount", 0, at.peakCount);
for (;mockTimeMs<=21;mockTimeMs++) { for (; mockTimeMs <= 21; mockTimeMs++) {
at.input = zigZagValue(mockTimeMs); at.input = zigZagValue(mockTimeMs);
at.Runtime(&logging); at.Runtime(&logging);
} }
assertEqualsM("peakCount@21", 1, at.peakCount); assertEqualsM("peakCount@21", 1, at.peakCount);
for (;mockTimeMs<=41;mockTimeMs++) { for (; mockTimeMs <= 41; mockTimeMs++) {
at.input = zigZagValue(mockTimeMs); at.input = zigZagValue(mockTimeMs);
at.Runtime(&logging); at.Runtime(&logging);
} }
assertEqualsM("peakCount@41", 2, at.peakCount); assertEqualsM("peakCount@41", 2, at.peakCount);
assertEqualsM("Pu@41", 1, cisnan(at.Pu)); assertEqualsM("Pu@41", 1, cisnan(at.Pu));
for (;mockTimeMs<=60;mockTimeMs++) { for (; mockTimeMs <= 60; mockTimeMs++) {
at.input = zigZagValue(mockTimeMs); at.input = zigZagValue(mockTimeMs);
at.Runtime(&logging); at.Runtime(&logging);
} }
assertEqualsM("peakCount@60", 3, at.peakCount); assertEqualsM("peakCount@60", 3, at.peakCount);
assertEqualsM("Pu@60", 0.02, at.Pu); assertEqualsM("Pu@60", 0.02, at.Pu);
// zigZagOffset = 10;
for (; mockTimeMs <= 80; mockTimeMs++) {
at.input = zigZagValue(mockTimeMs);
at.Runtime(&logging);
}
assertEqualsM("peakCount@80", 1, at.peakCount);
} }