Add acceleration stick mapping for position mode

src/lib/slew_rate/SlewRateTest.cpp

@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   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 <SlewRate.hpp>
+
+TEST(SlewRateTest, SlewUpLimited)
+{
+	SlewRate<float> _slew_rate;
+	_slew_rate.setSlewRate(.1f);
+	_slew_rate.setForcedValue(-5.5f);
+
+	for (int i = 1; i <= 10; i++) {
+		EXPECT_FLOAT_EQ(_slew_rate.update(20.f, .2f), -5.5f + i * .02f);
+	}
+}
+
+TEST(SlewRateTest, SlewDownLimited)
+{
+	SlewRate<float> _slew_rate;
+	_slew_rate.setSlewRate(1.1f);
+	_slew_rate.setForcedValue(17.3f);
+
+	for (int i = 1; i <= 10; i++) {
+		EXPECT_FLOAT_EQ(_slew_rate.update(-50.f, .3f), 17.3f - i * .33f);
+	}
+}
+
+TEST(SlewRateTest, ReachValueSlewed)
+{
+	SlewRate<float> _slew_rate;
+	_slew_rate.setSlewRate(.2f);
+	_slew_rate.setForcedValue(8.f);
+
+	for (int i = 1; i <= 10; i++) {
+		EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 8.f + i * .2f);
+	}
+
+	for (int i = 1; i <= 10; i++) {
+		EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 10.f);
+	}
+}