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Draft a unit test to show the difference between attitude generation strategies

This commit is contained in:
Matthias Grob 2020-03-04 05:30:33 +01:00
parent 05b4914983
commit 612de1e0f3
2 changed files with 66 additions and 0 deletions
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1
src/modules/mc_pos_control/PositionControl/CMakeLists.txt
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@ -41,3 +41,4 @@ target_include_directories(PositionControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
px4_add_unit_gtest(SRC ControlMathTest.cpp LINKLIBS PositionControl)
px4_add_unit_gtest(SRC PositionControlTest.cpp LINKLIBS PositionControl)
px4_add_unit_gtest(SRC PositionAttitudeTest.cpp LINKLIBS PositionControl AttitudeControl)

65
src/modules/mc_pos_control/PositionControl/PositionAttitudeTest.cpp Normal file
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@ -0,0 +1,65 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <ControlMath.hpp>
#include <AttitudeControl.hpp>
#include <px4_defines.h>
using namespace matrix;
TEST(PositionControlTest, NavigationYawInfluence)
{
const Vector3f thrust_setpoint(1.f, 1.f, -.5f);
const float yaw_setpoint = 0.f;
// Generate attitude
vehicle_attitude_setpoint_s attitude_setpoint{};
ControlMath::thrustToAttitude(thrust_setpoint, yaw_setpoint, attitude_setpoint);
// Set up attitude control
AttitudeControl attitude_control;
attitude_control.setProportionalGain(Vector3f(1.f, 1.f, 1.f));
attitude_control.setRateLimit(Vector3f(100.f, 100.f, 100.f));
// Execute on attitude
Quatf qd(attitude_setpoint.q_d);
const Vector3f rate_setpoint = attitude_control.update(Quatf(), qd, 0.f);
rate_setpoint.print();
// expect symmetric angular rate command towards thrust direction without any body yaw correction
EXPECT_GT(rate_setpoint(0), 0.f);
EXPECT_LT(rate_setpoint(1), 0.f);
EXPECT_FLOAT_EQ(fabsf(rate_setpoint(0)), fabsf(rate_setpoint(1)));
EXPECT_FLOAT_EQ(rate_setpoint(2), 0.f);
}