From 6b8fa417e192bead013f93e54aa657b1aab02f0d Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 16 Dec 2020 11:33:03 +0100 Subject: [PATCH] SlewRate: Add SlewRateYaw handling [-pi,pi] wraps --- src/lib/slew_rate/CMakeLists.txt | 1 + src/lib/slew_rate/SlewRate.hpp | 2 +- src/lib/slew_rate/SlewRateYaw.hpp | 64 ++++++++++++++ src/lib/slew_rate/SlewRateYawTest.cpp | 122 ++++++++++++++++++++++++++ 4 files changed, 188 insertions(+), 1 deletion(-) create mode 100644 src/lib/slew_rate/SlewRateYaw.hpp create mode 100644 src/lib/slew_rate/SlewRateYawTest.cpp diff --git a/src/lib/slew_rate/CMakeLists.txt b/src/lib/slew_rate/CMakeLists.txt index fb36f67a25..d02e1a097b 100644 --- a/src/lib/slew_rate/CMakeLists.txt +++ b/src/lib/slew_rate/CMakeLists.txt @@ -42,3 +42,4 @@ target_include_directories(SlewRate target_link_libraries(SlewRate PUBLIC mathlib) px4_add_unit_gtest(SRC SlewRateTest.cpp LINKLIBS SlewRate) +px4_add_unit_gtest(SRC SlewRateYawTest.cpp LINKLIBS SlewRate) diff --git a/src/lib/slew_rate/SlewRate.hpp b/src/lib/slew_rate/SlewRate.hpp index 6297258ab8..1e8221f50b 100644 --- a/src/lib/slew_rate/SlewRate.hpp +++ b/src/lib/slew_rate/SlewRate.hpp @@ -79,7 +79,7 @@ public: return _value; } -private: +protected: Type _slew_rate{}; ///< maximum rate of change for the value Type _value{}; ///< state to keep last value of the slew rate }; diff --git a/src/lib/slew_rate/SlewRateYaw.hpp b/src/lib/slew_rate/SlewRateYaw.hpp new file mode 100644 index 0000000000..10155626ed --- /dev/null +++ b/src/lib/slew_rate/SlewRateYaw.hpp @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file SlewRateYaw.hpp + * + * Library limit the rate of change of a [-pi,pi] range yaw value with a maximum slew rate. + * + * @author Matthias Grob + */ + +#pragma once + +#include "SlewRate.hpp" + +template +class SlewRateYaw : public SlewRate +{ +public: + SlewRateYaw() = default; + ~SlewRateYaw() = default; + + /** + * Update slewrate with yaw wrapping [-pi,pi] + * @param new_value desired new value + * @param deltatime time in seconds since last update + * @return actual value that complies with the slew rate + */ + Type update(const Type new_value, const float deltatime) + { + const Type d_wrapped = matrix::wrap_pi(new_value - this->_value); + return matrix::wrap_pi(SlewRate::update(this->_value + d_wrapped, deltatime)); + } +}; diff --git a/src/lib/slew_rate/SlewRateYawTest.cpp b/src/lib/slew_rate/SlewRateYawTest.cpp new file mode 100644 index 0000000000..862fb6d50f --- /dev/null +++ b/src/lib/slew_rate/SlewRateYawTest.cpp @@ -0,0 +1,122 @@ +/**************************************************************************** + * + * 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 +#include + +TEST(SlewRateYawTest, SlewUpLimited) +{ + SlewRateYaw _slew_rate_yaw; + _slew_rate_yaw.setSlewRate(.15f); + _slew_rate_yaw.setForcedValue(1.1f); + + for (int i = 1; i <= 10; i++) { + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), 1.1f + i * .15f); + } +} + +TEST(SlewRateYawTest, SlewDownLimited) +{ + SlewRateYaw _slew_rate_yaw; + _slew_rate_yaw.setSlewRate(.1f); + _slew_rate_yaw.setForcedValue(.5f); + + for (int i = 1; i <= 10; i++) { + EXPECT_NEAR(_slew_rate_yaw.update(-2.f, 1.f), .5f - i * .1f, 1e-7f); + } +} + +TEST(SlewRateYawTest, ReachValueSlewed) +{ + SlewRateYaw _slew_rate_yaw; + _slew_rate_yaw.setSlewRate(.2f); + _slew_rate_yaw.setForcedValue(1.f); + + for (int i = 1; i <= 10; i++) { + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), 1.f + i * .2f); + } + + for (int i = 1; i <= 10; i++) { + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), 3.f); + } +} + +TEST(SlewRateYawTest, SlewUpWrappedOutput) +{ + // put the goal value always a bit further away such that at some point the output has to wrap + SlewRateYaw _slew_rate_yaw; + _slew_rate_yaw.setSlewRate(.2f); + _slew_rate_yaw.setForcedValue(0.f); + + for (int i = 1; i <= 30; i++) { + EXPECT_NEAR(_slew_rate_yaw.update(i * .25f, 1.f), matrix::wrap_pi(i * .2f), 1e-5f); + } +} + +TEST(SlewRateYawTest, SlewDownWrappedOutput) +{ + // put the goal value always a bit further away such that at some point the output has to wrap + SlewRateYaw _slew_rate_yaw; + _slew_rate_yaw.setSlewRate(.2f); + _slew_rate_yaw.setForcedValue(0.f); + + for (int i = 1; i <= 50; i++) { + EXPECT_NEAR(_slew_rate_yaw.update(i * -.25f, 1.f), matrix::wrap_pi(i * -.2f), 1e-5f); + } +} + +TEST(SlewRateYawTest, SlewUpWrappedInput) +{ + // put the goal value always a bit further away such that at some point the output has to wrap + SlewRateYaw _slew_rate_yaw; + _slew_rate_yaw.setSlewRate(.2f); + _slew_rate_yaw.setForcedValue(0.f); + + for (int i = 1; i <= 50; i++) { + EXPECT_NEAR(_slew_rate_yaw.update(matrix::wrap_pi(i * .25f), 1.f), matrix::wrap_pi(i * .2f), 1e-5f); + } +} + +TEST(SlewRateYawTest, SlewShortWayInput) +{ + SlewRateYaw _slew_rate_yaw; + _slew_rate_yaw.setSlewRate(1.f); + _slew_rate_yaw.setForcedValue(0.f); + + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), 1.f); + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(5.f, 1.f), 0.f); + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(5.f, 1.f), -1.f); + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(4.f, 1.f), -2.f); + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), -3.f); + EXPECT_FLOAT_EQ(_slew_rate_yaw.update(5.f, 1.f), -2.f); +}