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Throttle trim - Fixes 5635 (#7677)

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Add throttle trim switch
This commit is contained in:
DanielGeA
2020-10-04 09:46:47 +02:00
committed by GitHub
parent 5ec01f90cf
commit 78ccc22eac
24 changed files with 503 additions and 255 deletions
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radio/src/tests/mixer.cpp
+149
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@@ -720,3 +720,152 @@ TEST_F(MixerTest, flightModeOverflow)
simuSetSwitch(0, 1);
CHECK_FLIGHT_MODE_TRANSITION(0, 1000, 1024, 1024);
}
TEST_F(TrimsTest, throttleTrimWithCrossTrims)
{
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->carryTrim = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->carryTrim = TRIM_THR;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024 + 500);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim mid
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024 + 250);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2000);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim mid
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1000);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
}
TEST_F(TrimsTest, invertedThrottlePlusThrottleTrimWithCrossTrims)
{
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->carryTrim = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->carryTrim = TRIM_THR;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim mid
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+250);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+500);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim mid
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1000);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaInValues[THR_STICK] = +1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2000);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaInValues[THR_STICK] = -1024;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
}