[BLDC] Only enable rotor offset compensation when hall interpolation …

…is enabled

The commit enabling sector offset compensation accidentally made some poor unit tests wherein the raw hall angle was not passed through if interpolation was disabled.

This feature should only be active if interpolation is also active, otherwise it does not make sense to actually enable this feature.

Fix adds a param flag for this and also fixes the unit tests to ensure raw hall angle passthrough

control_loop/bldc/rotor_estimator.cpp

@@ -237,7 +237,7 @@ app_hal_status_E ElectricalRotorPosEstimatorFromHall::update(const ElectricalRot
             // adding or subtracting 30 degrees from the rotor position estimate depending on the
             // sign of the velocity. This will make the rotor position estimate more accurate
 
-            if (params_->enable_sector_position_offset_compensation) {
+            if (params_->enable_sector_position_offset_compensation && params_->enable_interpolation) {
                 if (velocity_ > 0.0f) {
                     rotor_position_ -= math::M_PI_FLOAT / 6.0f;
                 } else {

test/rotor_estimator_test.cpp

@@ -145,7 +145,7 @@ TEST(RotorEstimatorTest, test_angle_interpolation_disabled) {
     float rotor_position = 0.0f;
     rotor_estimator.get_rotor_position(rotor_position);
 
-    EXPECT_FLOAT_EQ(rotor_position, 0.5f * 2.0f * M_PI / 6.0f);
+    EXPECT_FLOAT_EQ(rotor_position, 1 * math::M_PI_FLOAT / 3.0);
 
     EXPECT_CALL(sector_sensor, get_electrical_angle(_))  // _ allowing any param
         .WillOnce(DoAll(SetArgReferee<0>(1 * math::M_PI_FLOAT / 3.0), Return(APP_HAL_OK)));
@@ -169,7 +169,7 @@ TEST(RotorEstimatorTest, test_sector_position_offset_compensation) {
     bldc_rotor_estimator::ElectricalRotorPosEstimatorFromHall::ElectricalRotorPosEstimatorFromHallParams params{
         .num_hall_updates_to_start = 10,
         .max_estimate_angle_overrun = 2.0f / 3.0f * M_PI,
-        .enable_interpolation = false,
+        .enable_interpolation = true,
         .enable_sector_position_offset_compensation = true,
         .minimum_estimation_velocity = 0.0f,
     };
@@ -223,7 +223,7 @@ TEST(RotorEstimatorTest, test_sector_position_offset_compensation_disabled) {
         .num_hall_updates_to_start = 10,
         .max_estimate_angle_overrun = 2.0f / 3.0f * M_PI,
         .enable_interpolation = false,
-        .enable_sector_position_offset_compensation = true,
+        .enable_sector_position_offset_compensation = false,
         .minimum_estimation_velocity = 0.0f,
     };
 
@@ -260,8 +260,7 @@ TEST(RotorEstimatorTest, test_sector_position_offset_compensation_disabled) {
     // Get the rotor position
     rotor_estimator.get_rotor_position(rotor_position);
 
-    // Expect the rotor position to be 11pi/6
-    EXPECT_FLOAT_EQ(rotor_position, 11.0f * math::M_PI_FLOAT / 6.0f);
+    EXPECT_FLOAT_EQ(rotor_position, 10.0f * math::M_PI_FLOAT / 6.0f);
 }
 
 // Test that with a position offset compensation flag of 1 with a max angle tolerance of 2PI/3 when