diff --git a/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp b/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp deleted file mode 100644 index 573eabc19d..0000000000 --- a/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp +++ /dev/null @@ -1,190 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Simon Wilks - * - * 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. - * - ****************************************************************************/ - -/** - * @file mc_pos_control_tests.cpp - * Commander unit tests. Run the tests as follows: - * nsh> mc_pos_control_tests - * - */ - -#include -#include -#include -#include - -extern "C" __EXPORT int mc_pos_control_tests_main(int argc, char *argv[]); - -bool mcPosControlTests(); - -//#include "../mc_pos_control_main.cpp" -class MulticopterPositionControl -{ -public: - bool cross_sphere_line(const matrix::Vector3f &sphere_c, const float sphere_r, - const matrix::Vector3f &line_a, const matrix::Vector3f &line_b, matrix::Vector3f &res); -}; - -class McPosControlTests : public UnitTest -{ -public: - McPosControlTests() = default; - virtual ~McPosControlTests() = default; - - virtual bool run_tests(); - -private: - bool cross_sphere_line_test(); -}; - -bool McPosControlTests::cross_sphere_line_test() -{ - MulticopterPositionControl control = MulticopterPositionControl(); - - matrix::Vector3f prev = matrix::Vector3f(0.0f, 0.0f, 0.0f); - matrix::Vector3f curr = matrix::Vector3f(0.0f, 0.0f, 2.0f); - matrix::Vector3f res; - bool retval = false; - - /* - * Testing 9 positions (+) around waypoints (o): - * - * Far + + + - * - * Near + + + - * On trajectory --+----o---------+---------o----+-- - * prev curr - * - * Expected targets (1, 2, 3): - * Far + + + - * - * - * On trajectory -------1---------2---------3------- - * - * - * Near + + + - * On trajectory -------o---1---------2-----3------- - * - * - * On trajectory --+----o----1----+--------2/3---+-- - */ - - // on line, near, before previous waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_true(retval); - ut_compare_float("target A 0", res(0), 0.0f, 2); - ut_compare_float("target A 1", res(1), 0.0f, 2); - ut_compare_float("target A 2", res(2), 0.5f, 2); - - // on line, near, before target waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_true(retval); - ut_compare_float("target B 0", res(0), 0.0f, 2); - ut_compare_float("target B 1", res(1), 0.0f, 2); - ut_compare_float("target B 2", res(2), 2.0f, 2); - - // on line, near, after target waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_true(retval); - ut_compare_float("target C 0", res(0), 0.0f, 2); - ut_compare_float("target C 1", res(1), 0.0f, 2); - ut_compare_float("target C 2", res(2), 2.0f, 2); - - // near, before previous waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_true(retval); - ut_compare_float("target D 0", res(0), 0.0f, 2); - ut_compare_float("target D 1", res(1), 0.0f, 2); - ut_compare_float("target D 2", res(2), 0.37f, 2); - - // near, before target waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_true(retval); - ut_compare_float("target E 0", res(0), 0.0f, 2); - ut_compare_float("target E 1", res(1), 0.0f, 2); - ut_compare_float("target E 2", res(2), 1.87f, 2); - - // near, after target waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_true(retval); - ut_compare_float("target F 0", res(0), 0.0f, 2); - ut_compare_float("target F 1", res(1), 0.0f, 2); - ut_compare_float("target F 2", res(2), 2.0f, 2); - - // far, before previous waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_false(retval); - ut_compare_float("target G 0", res(0), 0.0f, 2); - ut_compare_float("target G 1", res(1), 0.0f, 2); - ut_compare_float("target G 2", res(2), 0.0f, 2); - - // far, before target waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_false(retval); - ut_compare_float("target H 0", res(0), 0.0f, 2); - ut_compare_float("target H 1", res(1), 0.0f, 2); - ut_compare_float("target H 2", res(2), 1.0f, 2); - - // far, after target waypoint - retval = control.cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res); - PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); - ut_assert_false(retval); - ut_compare_float("target I 0", res(0), 0.0f, 2); - ut_compare_float("target I 1", res(1), 0.0f, 2); - ut_compare_float("target I 2", res(2), 2.0f, 2); - - return true; -} - -bool McPosControlTests::run_tests() -{ - ut_run_test(cross_sphere_line_test); - - return (_tests_failed == 0); -} - -ut_declare_test(mcPosControlTests, McPosControlTests); - -int mc_pos_control_tests_main(int argc, char *argv[]) -{ - return mcPosControlTests() ? 0 : -1; -} diff --git a/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp b/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp deleted file mode 100644 index 97aa043a6a..0000000000 --- a/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp +++ /dev/null @@ -1,106 +0,0 @@ -#include -#include "../Utility/ControlMath.hpp" -#include -#include - -class ControlMathTest : public UnitTest -{ -public: - virtual bool run_tests(); - -private: - bool testThrAttMapping(); - bool testPrioritizeVector(); -}; - -bool ControlMathTest::run_tests() -{ - ut_run_test(testThrAttMapping); - ut_run_test(testPrioritizeVector); - - return (_tests_failed == 0); -} - -bool ControlMathTest::testThrAttMapping() -{ - - /* expected: zero roll, zero pitch, zero yaw, full thr mag - * reasone: thrust pointing full upward - */ - matrix::Vector3f thr{0.0f, 0.0f, -1.0f}; - float yaw = 0.0f; - vehicle_attitude_setpoint_s att = ControlMath::thrustToAttitude(thr, yaw); - ut_assert_true(att.roll_body < FLT_EPSILON); - ut_assert_true(att.pitch_body < FLT_EPSILON); - ut_assert_true(att.yaw_body < FLT_EPSILON); - ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); - - /* expected: same as before but with 90 yaw - * reason: only yaw changed - */ - yaw = M_PI_2_F; - att = ControlMath::thrustToAttitude(thr, yaw); - ut_assert_true(att.roll_body < FLT_EPSILON); - ut_assert_true(att.pitch_body < FLT_EPSILON); - ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON); - ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); - - /* expected: same as before but roll 180 - * reason: thrust points straight down and order Euler - * order is: 1. roll, 2. pitch, 3. yaw - */ - thr = matrix::Vector3f(0.0f, 0.0f, 1.0f); - att = ControlMath::thrustToAttitude(thr, yaw); - ut_assert_true(fabsf(att.roll_body) - M_PI_F < FLT_EPSILON); - ut_assert_true(fabsf(att.pitch_body) < FLT_EPSILON); - ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON); - ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); - - /* TODO: find a good way to test it */ - - - return true; -} - -bool ControlMathTest::testPrioritizeVector() -{ - float max = 5.0f; - - // v0 already at max - matrix::Vector2f v0(max, 0); - matrix::Vector2f v1(v0(1), -v0(0)); - - // the static keywork is a workaround for an internal bug of GCC - // "internal compiler error: in trunc_int_for_mode, at explow.c:55" - static matrix::Vector2f v_r = ControlMath::constrainXY(v0, v1, max); - ut_assert_true(fabsf(v_r(0)) - max < FLT_EPSILON && v_r(0) > 0.0f); - ut_assert_true(fabsf(v_r(1) - 0.0f) < FLT_EPSILON); - - // v1 exceeds max but v0 is zero - v0.zero(); - v_r = ControlMath::constrainXY(v0, v1, max); - ut_assert_true(fabsf(v_r(1)) - max < FLT_EPSILON && v_r(1) < 0.0f); - ut_assert_true(fabsf(v_r(0) - 0.0f) < FLT_EPSILON); - - // v0 and v1 are below max - v0 = matrix::Vector2f(0.5f, 0.5f); - v1 = matrix::Vector2f(v0(1), -v0(0)); - v_r = ControlMath::constrainXY(v0, v1, max); - float diff = matrix::Vector2f(v_r - (v0 + v1)).length(); - ut_assert_true(diff < FLT_EPSILON); - - // v0 and v1 exceed max and are perpendicular - v0 = matrix::Vector2f(4.0f, 0.0f); - v1 = matrix::Vector2f(0.0f, -4.0f); - v_r = ControlMath::constrainXY(v0, v1, max); - ut_assert_true(v_r(0) - v0(0) < FLT_EPSILON && v_r(0) > 0.0f); - float remaining = sqrtf(max * max - (v0(0) * v0(0))); - ut_assert_true(fabsf(v_r(1)) - remaining < FLT_EPSILON && v_r(1) < FLT_EPSILON); - - //TODO: add more tests with vectors not perpendicular - - return true; - -} - -ut_declare_test_c(test_controlmath, ControlMathTest) diff --git a/src/systemcmds/tests/test_controlmath.cpp b/src/systemcmds/tests/test_controlmath.cpp new file mode 100644 index 0000000000..ef4af02944 --- /dev/null +++ b/src/systemcmds/tests/test_controlmath.cpp @@ -0,0 +1,212 @@ +#include +#include +#include +#include + +class ControlMathTest : public UnitTest +{ +public: + virtual bool run_tests(); + +private: + bool testThrAttMapping(); + bool testPrioritizeVector(); + bool crossSphereLineTest(); +}; + +bool ControlMathTest::run_tests() +{ + ut_run_test(testThrAttMapping); + ut_run_test(testPrioritizeVector); + ut_run_test(crossSphereLineTest); + + return (_tests_failed == 0); +} + +bool ControlMathTest::testThrAttMapping() +{ + + /* expected: zero roll, zero pitch, zero yaw, full thr mag + * reasone: thrust pointing full upward + */ + matrix::Vector3f thr{0.0f, 0.0f, -1.0f}; + float yaw = 0.0f; + vehicle_attitude_setpoint_s att = ControlMath::thrustToAttitude(thr, yaw); + ut_assert_true(att.roll_body < FLT_EPSILON); + ut_assert_true(att.pitch_body < FLT_EPSILON); + ut_assert_true(att.yaw_body < FLT_EPSILON); + ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); + + /* expected: same as before but with 90 yaw + * reason: only yaw changed + */ + yaw = M_PI_2_F; + att = ControlMath::thrustToAttitude(thr, yaw); + ut_assert_true(att.roll_body < FLT_EPSILON); + ut_assert_true(att.pitch_body < FLT_EPSILON); + ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON); + ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); + + /* expected: same as before but roll 180 + * reason: thrust points straight down and order Euler + * order is: 1. roll, 2. pitch, 3. yaw + */ + thr = matrix::Vector3f(0.0f, 0.0f, 1.0f); + att = ControlMath::thrustToAttitude(thr, yaw); + ut_assert_true(fabsf(att.roll_body) - M_PI_F < FLT_EPSILON); + ut_assert_true(fabsf(att.pitch_body) < FLT_EPSILON); + ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON); + ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); + + /* TODO: find a good way to test it */ + + + return true; +} + +bool ControlMathTest::testPrioritizeVector() +{ + float max = 5.0f; + + // v0 already at max + matrix::Vector2f v0(max, 0); + matrix::Vector2f v1(v0(1), -v0(0)); + + // the static keywork is a workaround for an internal bug of GCC + // "internal compiler error: in trunc_int_for_mode, at explow.c:55" + static matrix::Vector2f v_r = ControlMath::constrainXY(v0, v1, max); + ut_assert_true(fabsf(v_r(0)) - max < FLT_EPSILON && v_r(0) > 0.0f); + ut_assert_true(fabsf(v_r(1) - 0.0f) < FLT_EPSILON); + + // v1 exceeds max but v0 is zero + v0.zero(); + v_r = ControlMath::constrainXY(v0, v1, max); + ut_assert_true(fabsf(v_r(1)) - max < FLT_EPSILON && v_r(1) < 0.0f); + ut_assert_true(fabsf(v_r(0) - 0.0f) < FLT_EPSILON); + + // v0 and v1 are below max + v0 = matrix::Vector2f(0.5f, 0.5f); + v1 = matrix::Vector2f(v0(1), -v0(0)); + v_r = ControlMath::constrainXY(v0, v1, max); + float diff = matrix::Vector2f(v_r - (v0 + v1)).length(); + ut_assert_true(diff < FLT_EPSILON); + + // v0 and v1 exceed max and are perpendicular + v0 = matrix::Vector2f(4.0f, 0.0f); + v1 = matrix::Vector2f(0.0f, -4.0f); + v_r = ControlMath::constrainXY(v0, v1, max); + ut_assert_true(v_r(0) - v0(0) < FLT_EPSILON && v_r(0) > 0.0f); + float remaining = sqrtf(max * max - (v0(0) * v0(0))); + ut_assert_true(fabsf(v_r(1)) - remaining < FLT_EPSILON && v_r(1) < FLT_EPSILON); + + //TODO: add more tests with vectors not perpendicular + + return true; + +} +bool ControlMathTest::crossSphereLineTest() +{ + matrix::Vector3f prev = matrix::Vector3f(0.0f, 0.0f, 0.0f); + matrix::Vector3f curr = matrix::Vector3f(0.0f, 0.0f, 2.0f); + matrix::Vector3f res; + bool retval = false; + + /* + * Testing 9 positions (+) around waypoints (o): + * + * Far + + + + * + * Near + + + + * On trajectory --+----o---------+---------o----+-- + * prev curr + * + * Expected targets (1, 2, 3): + * Far + + + + * + * + * On trajectory -------1---------2---------3------- + * + * + * Near + + + + * On trajectory -------o---1---------2-----3------- + * + * + * On trajectory --+----o----1----+--------2/3---+-- + */ + + // on line, near, before previous waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_true(retval); + ut_compare_float("target A 0", res(0), 0.0f, 2); + ut_compare_float("target A 1", res(1), 0.0f, 2); + ut_compare_float("target A 2", res(2), 0.5f, 2); + + // on line, near, before target waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_true(retval); + ut_compare_float("target B 0", res(0), 0.0f, 2); + ut_compare_float("target B 1", res(1), 0.0f, 2); + ut_compare_float("target B 2", res(2), 2.0f, 2); + + // on line, near, after target waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_true(retval); + ut_compare_float("target C 0", res(0), 0.0f, 2); + ut_compare_float("target C 1", res(1), 0.0f, 2); + ut_compare_float("target C 2", res(2), 2.0f, 2); + + // near, before previous waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_true(retval); + ut_compare_float("target D 0", res(0), 0.0f, 2); + ut_compare_float("target D 1", res(1), 0.0f, 2); + ut_compare_float("target D 2", res(2), 0.37f, 2); + + // near, before target waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_true(retval); + ut_compare_float("target E 0", res(0), 0.0f, 2); + ut_compare_float("target E 1", res(1), 0.0f, 2); + ut_compare_float("target E 2", res(2), 1.87f, 2); + + // near, after target waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_true(retval); + ut_compare_float("target F 0", res(0), 0.0f, 2); + ut_compare_float("target F 1", res(1), 0.0f, 2); + ut_compare_float("target F 2", res(2), 2.0f, 2); + + // far, before previous waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_false(retval); + ut_compare_float("target G 0", res(0), 0.0f, 2); + ut_compare_float("target G 1", res(1), 0.0f, 2); + ut_compare_float("target G 2", res(2), 0.0f, 2); + + // far, before target waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_false(retval); + ut_compare_float("target H 0", res(0), 0.0f, 2); + ut_compare_float("target H 1", res(1), 0.0f, 2); + ut_compare_float("target H 2", res(2), 1.0f, 2); + + // far, after target waypoint + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res); + PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2)); + ut_assert_false(retval); + ut_compare_float("target I 0", res(0), 0.0f, 2); + ut_compare_float("target I 1", res(1), 0.0f, 2); + ut_compare_float("target I 2", res(2), 2.0f, 2); + + return true; +} + +ut_declare_test_c(test_controlmath, ControlMathTest)