fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-28 12:24:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

teest_controlmath: incomplete set of thrust to attitude tests

Browse Source
This commit is contained in:
Dennis Mannhart 2017-12-22 09:40:18 +01:00 committed by Beat Küng
parent 0afd0807bb
commit ddecb4d3a4
1 changed files with 43 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

43
src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
View File

@ -12,6 +12,7 @@ public:
private:
bool testConstrainTilt();
bool testConstrainPIDu();
bool testThrAttMapping();
};
@ -20,6 +21,7 @@ bool ControlMathTest::run_tests()
{
ut_run_test(testConstrainTilt);
ut_run_test(testConstrainPIDu);
ut_run_test(testThrAttMapping);
return (_tests_failed == 0);
}
@ -212,4 +214,45 @@ bool ControlMathTest::testConstrainPIDu()
return true;
}
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_compare("", att.roll_body, EPS);
ut_assert_true(att.pitch_body < EPS);
ut_assert_true(att.yaw_body < EPS);
ut_assert_true(att.thrust - 1.0f < EPS);
/* 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 < EPS);
ut_assert_true(att.pitch_body < EPS);
ut_assert_true(att.yaw_body - M_PI_2_F < EPS);
ut_assert_true(att.thrust - 1.0f < EPS);
/* 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 < EPS);
ut_assert_true(fabsf(att.pitch_body) < EPS);
ut_assert_true(att.yaw_body - M_PI_2_F < EPS);
ut_assert_true(att.thrust - 1.0f < EPS);
/* TODO: find a good way to test it */
return true;
}
ut_declare_test_c(test_controlmath, ControlMathTest)