Helicopter: add unit testing for throttle curve

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp

@@ -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:
+ *
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+ *    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
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+ *    distribution.
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+ *    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
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+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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+ * 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);
+}

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt

@@ -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)