pid_design: add model-based PID tuning law based on GMVC

2026-10-24 01:33:34 +08:00 · 2021-10-02 18:12:05 -04:00
parent 404145c655
commit d3cb806627
4 changed files with 202 additions and 0 deletions
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2021 PX4 Development Team. All rights reserved.
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+
+/**
+ * Test code for pid_design functions
+ * Run this test only using make tests TESTFILTER=pid_design
+ */
+
+#include <gtest/gtest.h>
+#include <matrix/matrix/math.hpp>
+
+#include "pid_design.hpp"
+
+using namespace pid_design;
+using namespace matrix;
+
+TEST(PidDesignTest, testImpl)
+{
+	const Vector3f num(.0098f, -0.162f, .147f);
+	const Vector3f den(1.f, -1.814f, .822f);
+	const float dt = 0.004f;
+	const Vector3f kid = computePidGmvc(num, den, dt, 0.1f, 1.f, 0.5f);
+
+	// Compare with values generated from the python implementation
+	EXPECT_NEAR(kid(0), 0.129f, .001f);
+	EXPECT_NEAR(kid(1), 11.911f / 5.f, .001f);
+	EXPECT_NEAR(kid(2), 0.0463f, .0001f);
+}