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PositionControlTest: add integrator windup with invalid setpoint combination unit test

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This bug was by chance found during simulation testing and debugging.
The unit test is to easily reproduce and cover this case.
This commit is contained in:
Matthias Grob
2022-01-19 10:40:06 +01:00
parent 632dfa55e6
commit 8811482f1d
1 changed files with 20 additions and 0 deletions
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src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+20
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@@ -399,3 +399,23 @@ TEST_F(PositionControlBasicTest, UpdateHoverThrust)
// the output is still the same
EXPECT_EQ(_output_setpoint.thrust[2], -hover_thrust);
}
TEST_F(PositionControlBasicTest, IntegratorWindupWithInvalidSetpoint)
{
// GIVEN: the controller was ran with an invalid setpoint containing some valid values
_input_setpoint.x = .1f;
_input_setpoint.y = .2f;
// all z-axis setpoints stay NAN
EXPECT_FALSE(runController());
// WHEN: we run the controller with a valid setpoint
resetInputSetpoint();
_input_setpoint.vx = 0.f;
_input_setpoint.vy = 0.f;
_input_setpoint.vz = 0.f;
EXPECT_TRUE(runController());
// THEN: the integral did not wind up and produce unexpected deviation
EXPECT_FLOAT_EQ(_attitude.roll_body, 0.f);
EXPECT_FLOAT_EQ(_attitude.pitch_body, 0.f);
}