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VTOL rate control architecture improvements (#10819)

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* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
This commit is contained in:
Roman Bapst
2018-11-21 20:32:40 -05:00
committed by Daniel Agar
parent 75c1396ed7
commit 90bfdb6f0a
28 changed files with 387 additions and 414 deletions
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src/systemcmds/tests/test_controlmath.cpp
+3 -3
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@@ -37,7 +37,7 @@ bool ControlMathTest::testThrAttMapping()
ut_assert_true(att.roll_body < SIGMA_SINGLE_OP);
ut_assert_true(att.pitch_body < SIGMA_SINGLE_OP);
ut_assert_true(att.yaw_body < SIGMA_SINGLE_OP);
ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
/* expected: same as before but with 90 yaw
* reason: only yaw changed
@@ -47,7 +47,7 @@ bool ControlMathTest::testThrAttMapping()
ut_assert_true(att.roll_body < SIGMA_SINGLE_OP);
ut_assert_true(att.pitch_body < SIGMA_SINGLE_OP);
ut_assert_true(att.yaw_body - M_PI_2_F < SIGMA_SINGLE_OP);
ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
/* expected: same as before but roll 180
* reason: thrust points straight down and order Euler
@@ -58,7 +58,7 @@ bool ControlMathTest::testThrAttMapping()
ut_assert_true(fabsf(att.roll_body) - M_PI_F < SIGMA_SINGLE_OP);
ut_assert_true(fabsf(att.pitch_body) < SIGMA_SINGLE_OP);
ut_assert_true(att.yaw_body - M_PI_2_F < SIGMA_SINGLE_OP);
ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
/* TODO: find a good way to test it */