diff --git a/test_suite/unit_tests/Autopilot/testPidController.cxx b/test_suite/unit_tests/Autopilot/testPidController.cxx
index a3cbbb9e5..14161ef0d 100644
--- a/test_suite/unit_tests/Autopilot/testPidController.cxx
+++ b/test_suite/unit_tests/Autopilot/testPidController.cxx
@@ -38,18 +38,29 @@ SGPropertyNode_ptr PidControllerTests::configFromString(const std::string& s)
return config;
}
-void PidControllerTests::test()
+void PidControllerTests::test0()
+{
+ test(false /*startup_current*/);
+}
+
+void PidControllerTests::test1()
+{
+ test(true /*startup_current*/);
+}
+
+void PidControllerTests::test(bool startup_current)
{
sg_srandom(999);
// Define vertical-hold pid-controller (based on Harrier-GR3).
//
- std::string config_text =
+ std::string config_text0 =
R"(
Vertical Speed Hold
false
+
true
/velocities/vertical-speed-fps
@@ -80,6 +91,13 @@ void PidControllerTests::test()
)";
+ // Set the element.
+ std::string from = "";
+ std::string config_text = config_text0;
+ config_text.replace(config_text.find(from), from.size(),
+ (startup_current) ? "true" : "false"
+ );
+ assert(config_text != config_text0);
std::cout << "config_text is:\n" << config_text << "\n";
SGPropertyNode_ptr config = configFromString(config_text);
@@ -90,13 +108,14 @@ void PidControllerTests::test()
ap->bind();
ap->init();
- assert(pidControllerInputs.size() == pidControllerOutputs.size());
+ const std::vector& outputs = (startup_current) ? pidControllerOutputs1 : pidControllerOutputs0;
+ assert(pidControllerInputs.size() == outputs.size());
fgSetDouble("/controls/flight/elevator", 0);
for (unsigned i=0; iupdate(0.00833333 /*dt*/);
diff --git a/test_suite/unit_tests/Autopilot/testPidController.hxx b/test_suite/unit_tests/Autopilot/testPidController.hxx
index f0f0e5c56..fb47f15bb 100644
--- a/test_suite/unit_tests/Autopilot/testPidController.hxx
+++ b/test_suite/unit_tests/Autopilot/testPidController.hxx
@@ -42,9 +42,10 @@ struct PidControllerTests : public CppUnit::TestFixture
// Set up the test suite.
CPPUNIT_TEST_SUITE(PidControllerTests);
- CPPUNIT_TEST(test);
+ CPPUNIT_TEST(test0);
+ CPPUNIT_TEST(test1);
CPPUNIT_TEST_SUITE_END();
SGPropertyNode_ptr configFromString(const std::string& s);
- void test();
+ void test(bool startup_zeros);
};
diff --git a/test_suite/unit_tests/Autopilot/testPidControllerData.cxx b/test_suite/unit_tests/Autopilot/testPidControllerData.cxx
index d9b9e38fa..595a8e239 100644
--- a/test_suite/unit_tests/Autopilot/testPidControllerData.cxx
+++ b/test_suite/unit_tests/Autopilot/testPidControllerData.cxx
@@ -2481,7 +2481,2488 @@ std::vector pidControllerInputs = {
{ 3.96242, 8.335},
};
-std::vector pidControllerOutputs = {
+std::vector pidControllerOutputs1 = {
+ { -0.00318421},
+ { -0.207863},
+ { -0.0418555},
+ { -0.0287449},
+ { -0.0328319},
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+ { -0.776221},
+ { -0.776412},
+ { -0.776604},
+ { -0.776795},
+ { -0.776987},
+ { -0.777179},
+ { -0.777371},
+ { -0.777563},
+ { -0.777755},
+ { -0.777947},
+ { -0.778139},
+ { -0.778331},
+ { -0.778523},
+ { -0.778715},
+ { -0.778908},
+ { -0.7791},
+ { -0.779293},
+ { -0.779485},
+ { -0.779678},
+ { -0.77987},
+ { -0.780063},
+ { -0.780256},
+ { -0.780449},
+ { -0.780642},
+ { -0.780836},
+ { -0.781028},
+ { -0.781222},
+ { -0.781415},
+ { -0.781609},
+ { -0.781802},
+ { -0.781996},
+ { -0.782189},
+ { -0.782383},
+ { -0.782577},
+ { -0.782771},
+ { -0.782965},
+ { -0.783159},
+ { -0.783353},
+ { -0.783547},
+ { -0.783741},
+ { -0.783935},
+ { -0.78413},
+ { -0.784324},
+ { -0.784519},
+ { -0.784714},
+ { -0.784908},
+ { -0.785102},
+ { -0.785296},
+ { -0.785491},
+ { -0.785686},
+ { -0.785881},
+ { -0.786075},
+ { -0.78627},
+ { -0.786466},
+ { -0.786661},
+ { -0.786855},
+ { -0.78705},
+ { -0.787245},
+ { -0.78744},
+ { -0.787636},
+ { -0.787831},
+ { -0.788027},
+ { -0.788222},
+ { -0.788418},
+ { -0.788613},
+ { -0.788809},
+ { -0.789005},
+ { -0.7892},
+ { -0.789396},
+ { -0.789591},
+ { -0.789788},
+ { -0.789983},
+ { -0.790179},
+ { -0.790375},
+ { -0.790572},
+ { -0.790768},
+ { -0.790964},
+ { -0.79116},
+ { -0.791357},
+ { -0.791553},
+ { -0.791749},
+ { -0.791945},
+ { -0.792143},
+ { -0.792339},
+ { -0.792535},
+ { -0.792732},
+ { -0.79293},
+ { -0.793126},
+ { -0.793322},
+ { -0.793518},
+ { -0.793715},
+ { -0.793912},
+ { -0.794109},
+ { -0.794306},
+ { -0.794502},
+ { -0.7947},
+ { -0.794896},
+ { -0.795094},
+ { -0.795291},
+ { -0.795488},
+ { -0.795685},
+};
+
+std::vector pidControllerOutputs0 = {
{ -1},
{ 0.619054},
{ 0.785061},
diff --git a/test_suite/unit_tests/Autopilot/testPidControllerData.hxx b/test_suite/unit_tests/Autopilot/testPidControllerData.hxx
index 4b8ca2ef9..dd52fb06d 100644
--- a/test_suite/unit_tests/Autopilot/testPidControllerData.hxx
+++ b/test_suite/unit_tests/Autopilot/testPidControllerData.hxx
@@ -14,11 +14,17 @@ struct PidControllerOutput
};
// Define sequence of input values. These are the values actually used with
-// Harrier-GR3 when startup_zeros=false, but we use the same inputs for
-// startup_zeros=true also.
+// Harrier-GR3 when startup_current=true, but we use the same inputs for
+// startup_current=false also.
//
extern std::vector pidControllerInputs;
-// Expected output.
+// Expected output when startup_current is false (the default old behaviour).
//
-extern std::vector pidControllerOutputs;
+// Note the large transient at the start which messes up the initial behaviour.
+//
+extern std::vector pidControllerOutputs0;
+
+// Expected output when startup_current is true (the new improved behaviour).
+//
+extern std::vector pidControllerOutputs1;