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Helicopter: add unit testing for throttle curve

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Matthias Grob 2022-08-11 14:57:39 +02:00 committed by Beat Küng
parent 9ba6f4efb7
commit 6a9a049f1e
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2 changed files with 94 additions and 0 deletions
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93
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp Normal file
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@ -0,0 +1,93 @@
/****************************************************************************
*
* Copyright (C) 2022 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 "ActuatorEffectivenessHelicopter.hpp"
using namespace matrix;
TEST(FunctionsTest, ThrottleCurve)
{
ActuatorEffectivenessHelicopter helicopter(nullptr);
// run getEffectivenessMatrix with empty configuration to correctly initialize _first_swash_plate_servo_index
ActuatorEffectiveness::Configuration configuration{};
EffectivenessUpdateReason external_update = EffectivenessUpdateReason::MOTOR_ACTIVATION_UPDATE;
helicopter.getEffectivenessMatrix(configuration, external_update);
Vector<float, 6> control_sp{};
ActuatorEffectiveness::ActuatorVector actuator_sp{};
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = 0.1f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), 0.f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = 0.f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), 0.f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.125f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), .15f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.25f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), .3f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.375f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), .45f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.5f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), .6f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.625f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), .7f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.75f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), .8f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -.875f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), .9f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -1.f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), 1.f);
control_sp(ActuatorEffectiveness::ControlAxis::THRUST_Z) = -1.1f;
helicopter.updateSetpoint(control_sp, 0, actuator_sp);
EXPECT_FLOAT_EQ(actuator_sp(0), 1.f);
}

1
src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt
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@ -69,4 +69,5 @@ target_link_libraries(ActuatorEffectiveness
mathlib
)
px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS ActuatorEffectiveness)
px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS ActuatorEffectiveness)