fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 10:28:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

mixer_module_tests: cover output_limit_calc_single()

Browse Source
This commit is contained in:
Matthias Grob
2023-12-07 21:35:55 -05:00
committed by Daniel Agar
parent 0a78690356
commit e35380d6ae
2 changed files with 130 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/mixer_module/mixer_module.hpp
+1 -2
View File
@@ -206,6 +206,7 @@ public:
protected:
void updateParams() override;
uint16_t output_limit_calc_single(int i, float value) const;
private:
@@ -224,8 +225,6 @@ private:
void limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates);
uint16_t output_limit_calc_single(int i, float value) const;
void output_limit_calc(const bool armed, const int num_channels, const float outputs[MAX_ACTUATORS]);
struct ParamHandles {
src/lib/mixer_module/mixer_module_tests.cpp
+129 -67
View File
@@ -50,12 +50,11 @@
#define PARAM_PREFIX "HIL_ACT"
#endif
static constexpr int max_num_outputs = 8;
static constexpr int disarmed_value = 900;
static constexpr int failsafe_value = 800;
static constexpr int min_value = 1000;
static constexpr int max_value = 2000;
static constexpr int MAX_NUM_OUTPUTS = 8;
static constexpr int DISARMED_VALUE = 900;
static constexpr int FAILSAFE_VALUE = 800;
static constexpr int MIN_VALUE = 1000;
static constexpr int MAX_VALUE = 2000;
class MixerModuleTest : public ::testing::Test
{
@@ -101,9 +100,9 @@ public:
mixer_changed = true;
}
void configureFunctions(const std::array<int32_t, max_num_outputs> &functions)
void configureFunctions(const std::array<int32_t, MAX_NUM_OUTPUTS> &functions)
{
for (int i = 0; i < max_num_outputs; ++i) {
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
char buffer[17];
snprintf(buffer, sizeof(buffer), "%s_FUNC%u", PARAM_PREFIX, i + 1);
@@ -185,11 +184,11 @@ TEST_F(MixerModuleTest, basic)
{
OutputModuleTest test_module;
test_module.configureFunctions({});
MixingOutput mixing_output{PARAM_PREFIX, max_num_outputs, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false};
mixing_output.setAllDisarmedValues(disarmed_value);
mixing_output.setAllFailsafeValues(failsafe_value);
mixing_output.setAllMinValues(min_value);
mixing_output.setAllMaxValues(max_value);
MixingOutput mixing_output{PARAM_PREFIX, MAX_NUM_OUTPUTS, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false};
mixing_output.setAllDisarmedValues(DISARMED_VALUE);
mixing_output.setAllFailsafeValues(FAILSAFE_VALUE);
mixing_output.setAllMinValues(MIN_VALUE);
mixing_output.setAllMaxValues(MAX_VALUE);
EXPECT_EQ(test_module.num_updates, 0);
// all functions disabled: not expected to get an update
@@ -204,10 +203,10 @@ TEST_F(MixerModuleTest, basic)
mixing_output.updateSubscriptions(false);
EXPECT_TRUE(test_module.mixer_changed);
EXPECT_EQ(test_module.num_updates, update(mixing_output));
EXPECT_EQ(test_module.num_outputs, max_num_outputs);
EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS);
for (int i = 0; i < test_module.num_outputs; ++i) {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
test_module.reset();
@@ -222,10 +221,10 @@ TEST_F(MixerModuleTest, basic)
mixing_output.updateSubscriptions(false);
EXPECT_EQ(test_module.num_updates, update(mixing_output));
EXPECT_EQ(test_module.num_outputs, max_num_outputs);
EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS);
for (int i = 0; i < test_module.num_outputs; ++i) {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
test_module.reset();
@@ -236,14 +235,14 @@ TEST_F(MixerModuleTest, basic)
test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f});
mixing_output.updateSubscriptions(false);
EXPECT_EQ(test_module.num_updates, update(mixing_output));
EXPECT_EQ(test_module.num_outputs, max_num_outputs);
EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS);
for (int i = 0; i < test_module.num_outputs; ++i) {
if (i == 3) {
EXPECT_EQ(test_module.outputs[i], max_value);
EXPECT_EQ(test_module.outputs[i], MAX_VALUE);
} else {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
}
@@ -254,10 +253,10 @@ TEST_F(MixerModuleTest, basic)
test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f});
mixing_output.updateSubscriptions(false);
EXPECT_EQ(test_module.num_updates, update(mixing_output));
EXPECT_EQ(test_module.num_outputs, max_num_outputs);
EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS);
for (int i = 0; i < test_module.num_outputs; ++i) {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
test_module.reset();
@@ -274,11 +273,11 @@ TEST_F(MixerModuleTest, arming)
(int)OutputFunction::Motor1,
(int)OutputFunction::Motor5,
(int)OutputFunction::Servo3});
MixingOutput mixing_output{PARAM_PREFIX, max_num_outputs, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false};
mixing_output.setAllDisarmedValues(disarmed_value);
mixing_output.setAllFailsafeValues(failsafe_value);
mixing_output.setAllMinValues(min_value);
mixing_output.setAllMaxValues(max_value);
MixingOutput mixing_output{PARAM_PREFIX, MAX_NUM_OUTPUTS, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false};
mixing_output.setAllDisarmedValues(DISARMED_VALUE);
mixing_output.setAllFailsafeValues(FAILSAFE_VALUE);
mixing_output.setAllMinValues(MIN_VALUE);
mixing_output.setAllMaxValues(MAX_VALUE);
test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f});
test_module.sendActuatorArmed(false);
@@ -286,10 +285,10 @@ TEST_F(MixerModuleTest, arming)
// ensure all disarmed
mixing_output.updateSubscriptions(false);
EXPECT_EQ(test_module.num_updates, update(mixing_output));
EXPECT_EQ(test_module.num_outputs, max_num_outputs);
EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS);
for (int i = 0; i < max_num_outputs; ++i) {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
test_module.reset();
@@ -299,20 +298,20 @@ TEST_F(MixerModuleTest, arming)
test_module.sendActuatorArmed(true);
EXPECT_EQ(test_module.num_updates, update(mixing_output));
EXPECT_EQ(test_module.num_outputs, max_num_outputs);
EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS);
for (int i = 0; i < max_num_outputs; ++i) {
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
if (i == 1) {
EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.1f + min_value);
EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.1f + MIN_VALUE);
} else if (i == 2) {
EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.5f + min_value);
EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.5f + MIN_VALUE);
} else if (i == 3) {
EXPECT_EQ(test_module.outputs[i], max_value);
EXPECT_EQ(test_module.outputs[i], MAX_VALUE);
} else {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
}
@@ -323,18 +322,18 @@ TEST_F(MixerModuleTest, arming)
mixing_output.updateSubscriptions(false);
mixing_output.update();
for (int i = 0; i < max_num_outputs; ++i) {
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
if (i == 1) {
EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.24f + min_value);
EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.24f + MIN_VALUE);
} else if (i == 2) {
EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.9f + min_value);
EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.9f + MIN_VALUE);
} else if (i == 3) {
EXPECT_EQ(test_module.outputs[i], min_value);
EXPECT_EQ(test_module.outputs[i], MIN_VALUE);
} else {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
}
@@ -345,8 +344,8 @@ TEST_F(MixerModuleTest, arming)
test_module.sendMotors({0.5f, 1.f, 0.1f, 0.2f, 1.f, 1.f, 1.f, 1.f});
mixing_output.update();
for (int i = 0; i < max_num_outputs; ++i) {
EXPECT_EQ(test_module.outputs[i], failsafe_value);
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
EXPECT_EQ(test_module.outputs[i], FAILSAFE_VALUE);
}
test_module.reset();
@@ -356,12 +355,12 @@ TEST_F(MixerModuleTest, arming)
test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f});
mixing_output.update();
for (int i = 0; i < max_num_outputs; ++i) {
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
if (i >= 1 && i <= 3) {
EXPECT_EQ(test_module.outputs[i], max_value);
EXPECT_EQ(test_module.outputs[i], MAX_VALUE);
} else {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
}
@@ -372,8 +371,8 @@ TEST_F(MixerModuleTest, arming)
test_module.sendMotors({0.5f, 1.f, 0.1f, 0.2f, 1.f, 1.f, 1.f, 1.f});
mixing_output.update();
for (int i = 0; i < max_num_outputs; ++i) {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
test_module.reset();
@@ -383,12 +382,12 @@ TEST_F(MixerModuleTest, arming)
test_module.sendMotors({0.f, 0.f, 0.f, 0.f, 0.f, 1.f, 1.f, 1.f});
mixing_output.update();
for (int i = 0; i < max_num_outputs; ++i) {
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
if (i >= 1 && i <= 3) {
EXPECT_EQ(test_module.outputs[i], min_value);
EXPECT_EQ(test_module.outputs[i], MIN_VALUE);
} else {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
}
@@ -400,18 +399,18 @@ TEST_F(MixerModuleTest, arming)
mixing_output.update();
EXPECT_EQ(mixing_output.reversibleOutputs(), 1u << 3);
for (int i = 0; i < max_num_outputs; ++i) {
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
if (i == 1) {
EXPECT_EQ(test_module.outputs[i], min_value);
EXPECT_EQ(test_module.outputs[i], MIN_VALUE);
} else if (i == 2) {
EXPECT_EQ(test_module.outputs[i], min_value);
EXPECT_EQ(test_module.outputs[i], MIN_VALUE);
} else if (i == 3) {
EXPECT_EQ(test_module.outputs[i], (max_value - min_value) * 0.5f + min_value);
EXPECT_EQ(test_module.outputs[i], (MAX_VALUE - MIN_VALUE) * 0.5f + MIN_VALUE);
} else {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
}
@@ -422,8 +421,8 @@ TEST_F(MixerModuleTest, arming)
test_module.sendMotors({0.f, 0.f, 0.f, 0.f, 0.f, 1.f, 1.f, 1.f}, 1u << 4);
mixing_output.update();
for (int i = 0; i < max_num_outputs; ++i) {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
test_module.reset();
@@ -437,11 +436,11 @@ TEST_F(MixerModuleTest, prearm)
test_module.configureFunctions({
(int)OutputFunction::Motor1,
(int)OutputFunction::Servo1});
MixingOutput mixing_output{PARAM_PREFIX, max_num_outputs, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false};
mixing_output.setAllDisarmedValues(disarmed_value);
mixing_output.setAllFailsafeValues(failsafe_value);
mixing_output.setAllMinValues(min_value);
mixing_output.setAllMaxValues(max_value);
MixingOutput mixing_output{PARAM_PREFIX, MAX_NUM_OUTPUTS, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false};
mixing_output.setAllDisarmedValues(DISARMED_VALUE);
mixing_output.setAllFailsafeValues(FAILSAFE_VALUE);
mixing_output.setAllMinValues(MIN_VALUE);
mixing_output.setAllMaxValues(MAX_VALUE);
test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f});
test_module.sendServos({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f});
@@ -450,14 +449,14 @@ TEST_F(MixerModuleTest, prearm)
// ensure all disarmed, except the servo
mixing_output.updateSubscriptions(false);
EXPECT_EQ(test_module.num_updates, update(mixing_output));
EXPECT_EQ(test_module.num_outputs, max_num_outputs);
EXPECT_EQ(test_module.num_outputs, MAX_NUM_OUTPUTS);
for (int i = 0; i < max_num_outputs; ++i) {
for (int i = 0; i < MAX_NUM_OUTPUTS; ++i) {
if (i == 1) {
EXPECT_EQ(test_module.outputs[i], max_value);
EXPECT_EQ(test_module.outputs[i], MAX_VALUE);
} else {
EXPECT_EQ(test_module.outputs[i], disarmed_value);
EXPECT_EQ(test_module.outputs[i], DISARMED_VALUE);
}
}
@@ -465,3 +464,66 @@ TEST_F(MixerModuleTest, prearm)
EXPECT_FALSE(test_module.was_scheduled);
}
class TestMixingOutput : public MixingOutput
{
public:
TestMixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface,
SchedulingPolicy scheduling_policy,
bool support_esc_calibration, bool ramp_up = true)
: MixingOutput(param_prefix, max_num_outputs, interface, scheduling_policy, support_esc_calibration, ramp_up)
{};
uint16_t output_limit_calc_single(int i, float value) const { return MixingOutput::output_limit_calc_single(i, value); }
};
TEST_F(MixerModuleTest, OutputLimitCalcSingle)
{
OutputModuleTest test_module;
test_module.configureFunctions({(int)OutputFunction::Motor1});
TestMixingOutput mixing_output{PARAM_PREFIX, MAX_NUM_OUTPUTS, test_module, MixingOutput::SchedulingPolicy::Disabled, false, false};
mixing_output.setAllMinValues(MIN_VALUE); // default range [1000,2000]
mixing_output.setAllMaxValues(MAX_VALUE);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 1000); // In range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 1250);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 1500);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, .5f), 1750);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.f), 2000);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.1f), 1000); // Out of range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.1f), 2000);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1000.f), 1000); // Way ouf of range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1000.f), 2000);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.0005), 1500); // Rounding down
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.0015), 1501); // Rounding up
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.002), 1501); // Exact value
mixing_output.setAllMinValues(0); // lower range [0,20]
mixing_output.setAllMaxValues(20);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 0); // In range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 5);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 10);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, .5f), 15);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.f), 20);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.1f), 0); // Out of range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.1f), 20);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1000.f), 0); // Way ouf of range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1000.f), 20);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.025), 10); // Rounding down
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.075), 11); // Rounding up
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.1), 11); // Exact value
mixing_output.setAllMinValues(20); // inverted range [20,0]
mixing_output.setAllMaxValues(0);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 20); // In range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 15);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 10);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, .5f), 5);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.f), 0);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.1f), 20); // Out of range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1.1f), 0);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1000.f), 20); // Way ouf of range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 1000.f), 0);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.025), 10); // Rounding down
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.075), 9); // Rounding up
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.1), 9); // Exact value
}