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PositionControl: add unit tests for directions and limits

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This commit is contained in:
Matthias Grob 2019-11-01 13:17:08 +01:00
parent 25a445d5f8
commit bd491c8511
2 changed files with 212 additions and 0 deletions
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1
src/modules/mc_pos_control/PositionControl/CMakeLists.txt
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@ -41,3 +41,4 @@ target_include_directories(PositionControl
)
px4_add_unit_gtest(SRC ControlMathTest.cpp LINKLIBS PositionControl)
px4_add_unit_gtest(SRC PositionControlTest.cpp LINKLIBS PositionControl)

211
src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp Normal file
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@ -0,0 +1,211 @@
/****************************************************************************
*
* Copyright (C) 2019 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 <PositionControl.hpp>
#include <px4_defines.h>
using namespace matrix;
TEST(PositionControlTest, EmptySetpoint)
{
PositionControl position_control;
vehicle_local_position_setpoint_s output_setpoint{};
position_control.getLocalPositionSetpoint(output_setpoint);
EXPECT_EQ(output_setpoint.x, 0);
EXPECT_EQ(output_setpoint.y, 0);
EXPECT_EQ(output_setpoint.z, 0);
EXPECT_EQ(output_setpoint.yaw, 0);
EXPECT_EQ(output_setpoint.yawspeed, 0);
EXPECT_EQ(output_setpoint.vx, 0);
EXPECT_EQ(output_setpoint.vy, 0);
EXPECT_EQ(output_setpoint.vz, 0);
EXPECT_EQ(Vector3f(output_setpoint.acceleration), Vector3f(0, 0, 0));
EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(0, 0, 0));
EXPECT_EQ(Vector3f(output_setpoint.thrust), Vector3f(0, 0, 0));
vehicle_attitude_setpoint_s attitude{};
position_control.getAttitudeSetpoint(attitude);
EXPECT_EQ(attitude.roll_body, 0);
EXPECT_EQ(attitude.pitch_body, 0);
EXPECT_EQ(attitude.yaw_body, 0);
EXPECT_EQ(attitude.yaw_sp_move_rate, 0);
EXPECT_EQ(Quatf(attitude.q_d), Quatf(1, 0, 0, 0));
//EXPECT_EQ(attitude.q_d_valid, false); // TODO should not be true when there was no control
EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0, 0, 0));
EXPECT_EQ(attitude.roll_reset_integral, false);
EXPECT_EQ(attitude.pitch_reset_integral, false);
EXPECT_EQ(attitude.yaw_reset_integral, false);
EXPECT_EQ(attitude.fw_control_yaw, false);
EXPECT_EQ(attitude.apply_flaps, 0);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
}
class PositionControlBasicTest : public ::testing::Test
{
public:
PositionControlBasicTest()
{
_position_control.setPositionGains(Vector3f(1, 1, 1));
_position_control.setVelocityGains(Vector3f(1, 1, 1), Vector3f(1, 1, 1), Vector3f(1, 1, 1));
_position_control.setVelocityLimits(1, 1, 1);
_position_control.setThrustLimits(0.1f, 0.9f);
_position_control.setTiltLimit(1);
_position_control.setHoverThrust(.5f);
_contraints.tilt = 1.f;
_contraints.speed_xy = NAN;
_contraints.speed_up = NAN;
_contraints.speed_down = NAN;
_input_setpoint.x = NAN;
_input_setpoint.y = NAN;
_input_setpoint.z = NAN;
_input_setpoint.yaw = NAN;
_input_setpoint.yawspeed = NAN;
_input_setpoint.vx = NAN;
_input_setpoint.vy = NAN;
_input_setpoint.vz = NAN;
Vector3f(NAN, NAN, NAN).copyTo(_input_setpoint.acceleration);
Vector3f(NAN, NAN, NAN).copyTo(_input_setpoint.thrust);
}
void runController()
{
_position_control.updateConstraints(_contraints);
_position_control.updateSetpoint(_input_setpoint);
_position_control.generateThrustYawSetpoint(.1f);
_position_control.getLocalPositionSetpoint(_output_setpoint);
_position_control.getAttitudeSetpoint(_attitude);
}
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{};
};
class PositionControlBasicDirectionTest : public PositionControlBasicTest
{
public:
void checkDirection()
{
Vector3f thrust(_output_setpoint.thrust);
EXPECT_GT(thrust(0), 0);
EXPECT_GT(thrust(1), 0);
EXPECT_LT(thrust(2), 0);
Vector3f body_z = Quatf(_attitude.q_d).dcm_z();
EXPECT_LT(body_z(0), 0);
EXPECT_LT(body_z(1), 0);
EXPECT_GT(body_z(2), 0);
}
};
TEST_F(PositionControlBasicDirectionTest, PositionControlDirectionP)
{
_input_setpoint.x = .1f;
_input_setpoint.y = .1f;
_input_setpoint.z = -.1f;
runController();
checkDirection();
}
TEST_F(PositionControlBasicDirectionTest, VelocityControlDirection)
{
_input_setpoint.vx = .1f;
_input_setpoint.vy = .1f;
_input_setpoint.vz = -.1f;
runController();
checkDirection();
}
TEST_F(PositionControlBasicTest, PositionControlMaxTilt)
{
_input_setpoint.x = 10;
_input_setpoint.y = 10;
_input_setpoint.z = -0;
runController();
Vector3f body_z = Quatf(_attitude.q_d).dcm_z();
float angle = acosf(body_z.dot(Vector3f(0, 0, 1)));
EXPECT_GT(angle, 0.f);
EXPECT_LE(angle, 1.f);
_contraints.tilt = .5f;
runController();
body_z = Quatf(_attitude.q_d).dcm_z();
angle = acosf(body_z.dot(Vector3f(0, 0, 1)));
EXPECT_GT(angle, 0.f);
EXPECT_LE(angle, .50001f);
}
TEST_F(PositionControlBasicTest, PositionControlMaxVelocity)
{
_input_setpoint.x = 10;
_input_setpoint.y = 10;
_input_setpoint.z = -10;
runController();
Vector2f velocity_xy(_output_setpoint.vx, _output_setpoint.vy);
EXPECT_LE(velocity_xy.norm(), 1);
EXPECT_LE(abs(_output_setpoint.vz), 1);
}
TEST_F(PositionControlBasicTest, PositionControlThrustLimit)
{
_input_setpoint.x = 10;
_input_setpoint.y = 10;
_input_setpoint.z = -10;
runController();
EXPECT_EQ(_attitude.thrust_body[0], 0.f);
EXPECT_EQ(_attitude.thrust_body[1], 0.f);
EXPECT_LT(_attitude.thrust_body[2], -.1f);
EXPECT_GE(_attitude.thrust_body[2], -0.9f);
}
TEST_F(PositionControlBasicTest, PositionControlFailsafeInput)
{
_input_setpoint.vz = 0.7f;
_input_setpoint.acceleration[0] = _input_setpoint.acceleration[1] = 0.0f;
runController();
EXPECT_EQ(_attitude.thrust_body[0], 0.f);
EXPECT_EQ(_attitude.thrust_body[1], 0.f);
EXPECT_LT(_output_setpoint.thrust[2], -0.1f);
EXPECT_GT(_output_setpoint.thrust[2], -0.5f);
EXPECT_GT(_attitude.thrust_body[2], -0.5f);
EXPECT_LE(_attitude.thrust_body[2], -0.1f);
}