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feat: use any source for expo/weight/offset (#5220)

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Co-authored-by: philmoz <phil.a.mitchell@gmail.com>
Co-authored-by: 3djc <3djc@gh.com>
Co-authored-by: elecpower <elecpower@users.noreply.github.com>
This commit is contained in:
philmoz
2024-07-26 20:51:21 +10:00
committed by GitHub
co-authored by philmoz 3djc elecpower
parent 326c58a7fd
commit 4b917b762c
87 changed files with 2751 additions and 1671 deletions
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radio/src/tests/mixer.cpp
+34 -34
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@@ -279,7 +279,7 @@ TEST_F(TrimsTest, throttleTrimWithZeroWeightOnThrottle)
g_model.thrTrim = 1;
// the input already exists
ExpoData *expo = expoAddress(THR_STICK);
expo->weight = 0;
expo->weight = makeSourceNumVal(0);
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
@@ -350,7 +350,7 @@ TEST_F(TrimsTest, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
g_model.thrTrim = 1;
// the input already exists
ExpoData *expo = expoAddress(THR_STICK);
expo->weight = 0;
expo->weight = makeSourceNumVal(0);
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
@@ -579,7 +579,7 @@ TEST_F(TrimsTest, InstantTrimNegativeCurve)
{
ExpoData *expo = expoAddress(AIL_STICK);
expo->curve.type = CURVE_REF_CUSTOM;
expo->curve.value = 1;
expo->curve.value = makeSourceNumVal(1);
g_model.points[0] = -100;
g_model.points[1] = -75;
g_model.points[2] = -50;
@@ -616,13 +616,13 @@ TEST_F(MixerTest, InfiniteRecursiveChannels)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH + 1;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_FIRST_CH + 2;
g_model.mixData[1].weight = 100;
g_model.mixData[1].weight = makeSourceNumVal(100);
g_model.mixData[2].destCh = 2;
g_model.mixData[2].srcRaw = MIXSRC_FIRST_CH;
g_model.mixData[2].weight = 100;
g_model.mixData[2].weight = makeSourceNumVal(100);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[2], 0);
EXPECT_EQ(chans[1], 0);
@@ -633,7 +633,7 @@ TEST_F(MixerTest, BlockingChannel)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
}
@@ -643,14 +643,14 @@ TEST_F(MixerTest, RecursiveAddChannel)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 50;
g_model.mixData[0].weight = makeSourceNumVal(50);
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_FIRST_CH + 1;
g_model.mixData[1].weight = 100;
g_model.mixData[1].weight = makeSourceNumVal(100);
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_FIRST_STICK;
g_model.mixData[2].weight = 100;
g_model.mixData[2].weight = makeSourceNumVal(100);
anaSetFiltered(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 0);
@@ -665,15 +665,15 @@ TEST_F(MixerTest, RecursiveAddChannelAfterInactivePhase)
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH + 1;
g_model.mixData[0].flightModes = 0b11110;
g_model.mixData[0].weight = 50;
g_model.mixData[0].weight = makeSourceNumVal(50);
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].flightModes = 0b11101;
g_model.mixData[1].weight = 50;
g_model.mixData[1].weight = makeSourceNumVal(50);
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_MAX;
g_model.mixData[2].weight = 100;
g_model.mixData[2].weight = makeSourceNumVal(100);
simuSetSwitch(3, -1);
evalMixes(1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
@@ -691,7 +691,7 @@ TEST_F(MixerTest, SlowOnPhase)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 /*only enabled in phase 0*/;
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
@@ -714,7 +714,7 @@ TEST_F(MixerTest, SlowOnSwitchSource)
g_eeGeneral.switchConfig = 0x03;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_SWITCH;
int switchIndex = 0;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
@@ -734,7 +734,7 @@ TEST_F(MixerTest, SlowOnPhasePrec10ms)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 /*only enabled in phase 0*/;
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
@@ -758,7 +758,7 @@ TEST_F(MixerTest, SlowOnSwitchSourcePrec10ms)
g_eeGeneral.switchConfig = 0x03;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_SWITCH;
int switchIndex = 0;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
g_model.mixData[0].speedPrec = 1;
@@ -778,7 +778,7 @@ TEST_F(MixerTest, SlowDisabledOnStartup)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
@@ -791,7 +791,7 @@ TEST_F(MixerTest, DelayOnSwitch)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[0].swtch = SWSRC_FIRST_SWITCH + 2;
g_model.mixData[0].delayUp = 50;
g_model.mixData[0].delayDown = 50;
@@ -822,7 +822,7 @@ TEST_F(MixerTest, DelayOnSwitch2)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_SWITCH;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
// g_model.mixData[0].swtch = SWSRC_ON;
g_model.mixData[0].delayUp = 50;
g_model.mixData[0].delayDown = 50;
@@ -851,11 +851,11 @@ TEST_F(MixerTest, SlowOnMultiply)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_MUL;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].weight = 100;
g_model.mixData[1].weight = makeSourceNumVal(100);
g_model.mixData[1].swtch = SWSRC_FIRST_SWITCH;
g_model.mixData[1].speedUp = 50;
g_model.mixData[1].speedDown = 50;
@@ -877,11 +877,11 @@ TEST_F(MixerTest, SlowOnMultiplyPrec10ms)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_MUL;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].weight = 100;
g_model.mixData[1].weight = makeSourceNumVal(100);
g_model.mixData[1].swtch = SWSRC_FIRST_SWITCH;
g_model.mixData[1].speedUp = 50;
g_model.mixData[1].speedDown = 50;
@@ -938,15 +938,15 @@ TEST(Heli, BasicTest)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[1].destCh = 1;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
g_model.mixData[1].weight = 100;
g_model.mixData[1].weight = makeSourceNumVal(100);
g_model.mixData[2].destCh = 2;
g_model.mixData[2].mltpx = MLTPX_ADD;
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
g_model.mixData[2].weight = 100;
g_model.mixData[2].weight = makeSourceNumVal(100);
anaSetFiltered(THR_STICK, 0);
anaSetFiltered(ELE_STICK, 1024);
anaSetFiltered(AIL_STICK, 0);
@@ -974,15 +974,15 @@ TEST(Heli, Mode2Test)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[1].destCh = 1;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
g_model.mixData[1].weight = 100;
g_model.mixData[1].weight = makeSourceNumVal(100);
g_model.mixData[2].destCh = 2;
g_model.mixData[2].mltpx = MLTPX_ADD;
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
g_model.mixData[2].weight = 100;
g_model.mixData[2].weight = makeSourceNumVal(100);
anaSetFiltered(THR_STICK, 0);
anaSetFiltered(ELE_STICK, 1024);
anaSetFiltered(AIL_STICK, 0);
@@ -1003,7 +1003,7 @@ TEST(Trainer, UnpluggedTest)
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_TRAINER;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[0].delayUp = 50;
g_model.mixData[0].delayDown = 50;
trainerSetTimer(0);
@@ -1026,12 +1026,12 @@ TEST_F(MixerTest, flightModeTransition)
g_model.mixData[0].mltpx = MLTPX_REPL;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].flightModes = 0b11110;
g_model.mixData[0].weight = 100;
g_model.mixData[0].weight = makeSourceNumVal(100);
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_REPL;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].flightModes = 0b11101;
g_model.mixData[1].weight = -10;
g_model.mixData[1].weight = makeSourceNumVal(-10);
evalMixes(1);
simuSetSwitch(0, 1);
CHECK_FLIGHT_MODE_TRANSITION(0, 1000, 1024, -102);
@@ -1050,7 +1050,7 @@ TEST_F(MixerTest, flightModeOverflow)
g_model.mixData[0].mltpx = MLTPX_REPL;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].flightModes = 0;
g_model.mixData[0].weight = 250;
g_model.mixData[0].weight = makeSourceNumVal(250);
evalMixes(1);
simuSetSwitch(0, 1);
CHECK_FLIGHT_MODE_TRANSITION(0, 1000, 1024, 1024);