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AP_HAL: update prescaler tests

This commit is contained in:
Andy Piper 2022-03-08 18:03:41 +00:00 committed by Randy Mackay
parent 9c778d134a
commit 91732555a5
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_HAL/tests/test_prescaler.cpp
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@ -11,24 +11,24 @@ protected:
const uint32_t prescaler = AP_HAL::RCOutput::calculate_bitrate_prescaler(clock, target_rate, is_dshot); const uint32_t prescaler = AP_HAL::RCOutput::calculate_bitrate_prescaler(clock, target_rate, is_dshot);
// we would like at most a 1% discrepancy in target versus actual // we would like at most a 1% discrepancy in target versus actual
const float rate_delta = fabsf(float(clock / prescaler) - target_rate) / target_rate; const float rate_delta = fabsf(float(clock / prescaler) - target_rate) / target_rate;
EXPECT_TRUE(rate_delta < 0.20f); EXPECT_TRUE(rate_delta < 0.13f);
} }
}; };
TEST_P(PrescalerParameterizedTestFixture, DShot150) { TEST_P(PrescalerParameterizedTestFixture, DShot150) {
test_prescaler(GetParam(), 150000 * 20, true); test_prescaler(GetParam(), 150000 * 8, true);
} }
TEST_P(PrescalerParameterizedTestFixture, DShot300) { TEST_P(PrescalerParameterizedTestFixture, DShot300) {
test_prescaler(GetParam(), 300000 * 20, true); test_prescaler(GetParam(), 300000 * 8, true);
} }
TEST_P(PrescalerParameterizedTestFixture, DShot600) { TEST_P(PrescalerParameterizedTestFixture, DShot600) {
test_prescaler(GetParam(), 600000 * 20, true); test_prescaler(GetParam(), 600000 * 8, true);
} }
TEST_P(PrescalerParameterizedTestFixture, DShot1200) { TEST_P(PrescalerParameterizedTestFixture, DShot1200) {
test_prescaler(GetParam(), 1200000 * 20, true); test_prescaler(GetParam(), 1200000 * 8, true);
} }
TEST_P(PrescalerParameterizedTestFixture, Passthrough) { TEST_P(PrescalerParameterizedTestFixture, Passthrough) {
@ -36,11 +36,11 @@ TEST_P(PrescalerParameterizedTestFixture, Passthrough) {
} }
TEST_P(PrescalerParameterizedTestFixture, NeoPixel) { TEST_P(PrescalerParameterizedTestFixture, NeoPixel) {
test_prescaler(GetParam(), 800000 * 20, false); test_prescaler(GetParam(), 800000 * 11, false);
} }
TEST_P(PrescalerParameterizedTestFixture, ProfiLED) { TEST_P(PrescalerParameterizedTestFixture, ProfiLED) {
test_prescaler(GetParam(), 1500000 * 20, false); test_prescaler(GetParam(), 1500000 * 11, false);
} }
INSTANTIATE_TEST_CASE_P( INSTANTIATE_TEST_CASE_P(