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PositionControl: remove complicated internal control flags

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This commit is contained in:
Matthias Grob
2019-12-08 00:12:37 +01:00
parent 83e51ad192
commit 8441bdb9b5
4 changed files with 44 additions and 47 deletions
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src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+42 -6
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@@ -133,7 +133,7 @@ public:
}
};
TEST_F(PositionControlBasicDirectionTest, PositionControlDirectionP)
TEST_F(PositionControlBasicDirectionTest, PositionDirection)
{
_input_setpoint.x = .1f;
_input_setpoint.y = .1f;
@@ -142,7 +142,7 @@ TEST_F(PositionControlBasicDirectionTest, PositionControlDirectionP)
checkDirection();
}
TEST_F(PositionControlBasicDirectionTest, VelocityControlDirection)
TEST_F(PositionControlBasicDirectionTest, VelocityDirection)
{
_input_setpoint.vx = .1f;
_input_setpoint.vy = .1f;
@@ -151,7 +151,7 @@ TEST_F(PositionControlBasicDirectionTest, VelocityControlDirection)
checkDirection();
}
TEST_F(PositionControlBasicTest, PositionControlMaxTilt)
TEST_F(PositionControlBasicTest, TiltLimit)
{
_input_setpoint.x = 10.f;
_input_setpoint.y = 10.f;
@@ -171,7 +171,7 @@ TEST_F(PositionControlBasicTest, PositionControlMaxTilt)
EXPECT_LE(angle, .50001f);
}
TEST_F(PositionControlBasicTest, PositionControlMaxVelocity)
TEST_F(PositionControlBasicTest, VelocityLimit)
{
_input_setpoint.x = 10.f;
_input_setpoint.y = 10.f;
@@ -183,7 +183,7 @@ TEST_F(PositionControlBasicTest, PositionControlMaxVelocity)
EXPECT_LE(abs(_output_setpoint.vz), 1.f);
}
TEST_F(PositionControlBasicTest, PositionControlThrustLimit)
TEST_F(PositionControlBasicTest, ThrustLimit)
{
_input_setpoint.x = 10.f;
_input_setpoint.y = 10.f;
@@ -196,7 +196,7 @@ TEST_F(PositionControlBasicTest, PositionControlThrustLimit)
EXPECT_GE(_attitude.thrust_body[2], -0.9f);
}
TEST_F(PositionControlBasicTest, PositionControlFailsafeInput)
TEST_F(PositionControlBasicTest, FailsafeInput)
{
_input_setpoint.vz = .7f;
_input_setpoint.acceleration[0] = _input_setpoint.acceleration[1] = 0.f;
@@ -209,3 +209,39 @@ TEST_F(PositionControlBasicTest, PositionControlFailsafeInput)
EXPECT_GT(_attitude.thrust_body[2], -.5f);
EXPECT_LE(_attitude.thrust_body[2], -.1f);
}
TEST_F(PositionControlBasicTest, InputCombinationsPosition)
{
_input_setpoint.x = .1f;
_input_setpoint.y = .2f;
_input_setpoint.z = .3f;
runController();
EXPECT_EQ(_output_setpoint.x, .1f);
EXPECT_EQ(_output_setpoint.y, .2f);
EXPECT_EQ(_output_setpoint.z, .3f);
EXPECT_FALSE(isnan(_output_setpoint.vx));
EXPECT_FALSE(isnan(_output_setpoint.vy));
EXPECT_FALSE(isnan(_output_setpoint.vz));
EXPECT_FALSE(isnan(_output_setpoint.thrust[0]));
EXPECT_FALSE(isnan(_output_setpoint.thrust[1]));
EXPECT_FALSE(isnan(_output_setpoint.thrust[2]));
}
TEST_F(PositionControlBasicTest, InputCombinationsPositionVelocity)
{
_input_setpoint.vx = .1f;
_input_setpoint.vy = .2f;
_input_setpoint.z = .3f; // altitude
runController();
// EXPECT_TRUE(isnan(_output_setpoint.x));
// EXPECT_TRUE(isnan(_output_setpoint.y));
EXPECT_EQ(_output_setpoint.z, .3f);
EXPECT_EQ(_output_setpoint.vx, .1f);
EXPECT_EQ(_output_setpoint.vy, .2f);
EXPECT_FALSE(isnan(_output_setpoint.vz));
EXPECT_FALSE(isnan(_output_setpoint.thrust[0]));
EXPECT_FALSE(isnan(_output_setpoint.thrust[1]));
EXPECT_FALSE(isnan(_output_setpoint.thrust[2]));
}