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Control Allocation Sequential Desaturation unit tests (#22612)

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* [control_allocation] add unit tests for ControlAllocationSequentialDesaturation

* complete first 2 unit tests

* add yaw test

* add more unit tests

* improve comments

* format

* address review comments

* submodule update

* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* Update src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* remove float suffix for logical integers, add missing float suffixes for logical float zeros, and make YAW_MOTORS an int

---------

Co-authored-by: Master Chief <master-chief@the-void.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
somebody-once-told-me
2024-01-26 15:17:54 +01:00
committed by GitHub
co-authored by Silvan Fuhrer Master Chief
parent 1d70e32551
commit f40ede6087
2 changed files with 386 additions and 0 deletions
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src/modules/control_allocator/ControlAllocation/CMakeLists.txt
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@@ -44,3 +44,4 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(ControlAllocation PRIVATE mathlib)
px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation)
px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)