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move takeoff state machine flight_mode_manager -> mc_pos_control

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This commit is contained in:
Daniel Agar
2021-02-16 12:26:14 -05:00
committed by Matthias Grob
parent 823c6078d9
commit 266ea377da
20 changed files with 288 additions and 279 deletions
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src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+3 -8
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@@ -82,11 +82,6 @@ public:
_position_control.setTiltLimit(1.f);
_position_control.setHoverThrust(.5f);
_contraints.tilt = 1.f;
_contraints.speed_xy = NAN;
_contraints.speed_up = NAN;
_contraints.speed_down = NAN;
resetInputSetpoint();
}
@@ -106,7 +101,6 @@ public:
bool runController()
{
_position_control.setConstraints(_contraints);
_position_control.setInputSetpoint(_input_setpoint);
const bool ret = _position_control.update(.1f);
_position_control.getLocalPositionSetpoint(_output_setpoint);
@@ -115,7 +109,6 @@ public:
}
PositionControl _position_control;
vehicle_constraints_s _contraints{};
vehicle_local_position_setpoint_s _input_setpoint{};
vehicle_local_position_setpoint_s _output_setpoint{};
vehicle_attitude_setpoint_s _attitude{};
@@ -168,12 +161,14 @@ TEST_F(PositionControlBasicTest, TiltLimit)
EXPECT_GT(angle, 0.f);
EXPECT_LE(angle, 1.f);
_contraints.tilt = .5f;
_position_control.setTiltLimit(0.5f);
EXPECT_TRUE(runController());
body_z = Quatf(_attitude.q_d).dcm_z();
angle = acosf(body_z.dot(Vector3f(0.f, 0.f, 1.f)));
EXPECT_GT(angle, 0.f);
EXPECT_LE(angle, .50001f);
_position_control.setTiltLimit(1.f); // restore original
}
TEST_F(PositionControlBasicTest, VelocityLimit)