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FlightTasks: remove FlightTaskManualPositionSmooth
alias first smooth position control version from 2017. RIP it served well.
This commit is contained in:
Matthias Grob
@@ -68,7 +68,6 @@ set(srcs
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test_search_min.cpp
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test_servo.c
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test_sleep.c
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test_smooth_z.cpp
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test_uart_baudchange.c
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test_uart_console.c
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test_uart_loopback.c
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@@ -1,277 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_smooth_z.cpp
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* Tests flight path smoothing algorithms.
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*/
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#include <unit_test.h>
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#include <lib/flight_tasks/tasks/Utility/ManualSmoothingZ.hpp>
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#include <float.h>
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#include <math.h>
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class SmoothZTest : public UnitTest
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{
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public:
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virtual bool run_tests();
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bool brakeUpward();
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bool brakeDownward();
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bool accelerateUpwardFromBrake();
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bool accelerateDownwardFromBrake();
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};
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bool SmoothZTest::run_tests()
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{
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ut_run_test(brakeUpward);
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ut_run_test(brakeDownward);
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ut_run_test(accelerateUpwardFromBrake);
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ut_run_test(accelerateDownwardFromBrake);
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return (_tests_failed == 0);
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}
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bool SmoothZTest::brakeUpward()
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{
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/* Downward flight and want to stop */
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float stick_current = 0.0f; // sticks are at zero position
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float vel_sp_current = 0.0f; // desired velocity is at 0m/s
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float vel_sp_previous = 5.0f; // the demanded previous setpoint was 5m/s downwards
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float vel = vel_sp_previous; // assume that current velocity is equal to previous vel setpoint
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float acc_max_up = 5.0f;
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float acc_max_down = 2.0f;
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ManualSmoothingZ smooth(nullptr, vel, stick_current);
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/* overwrite parameters since they might change depending on configuration */
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smooth.overwriteAccelerationDown(acc_max_down); // downward max acceleration of 2m/ss
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smooth.overwriteAccelerationUp(acc_max_up); // upward max acceleration of 5m/ss
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smooth.overwriteJerkMax(0.1f); // maximum jerk of 0.1
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float dt = 0.1f; // dt is set to 0.1s
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/* It should start with acceleration */
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ut_assert_true(smooth.getIntention() == ManualIntentionZ::acceleration);
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for (int i = 0; i < 100; i++) {
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smooth.smoothVelFromSticks(vel_sp_current, dt);
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/* Test if intention is brake */
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ut_assert_true(smooth.getIntention() == ManualIntentionZ::brake);
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/* we should always use upward acceleration */
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ut_assert_true((smooth.getMaxAcceleration() - acc_max_up < FLT_EPSILON));
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/* New setpoint has to be lower than previous setpoint (NED frame) or equal 0. 0 velocity
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* occurs once the vehicle is at perfect rest. */
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ut_assert_true((vel_sp_current < vel_sp_previous) || (fabsf(vel_sp_current) < FLT_EPSILON));
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/* We reset the previou setpoint to newest setpoint
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* and set the current setpoint to 0 because we still want to brake.
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* We also set vel to previous setpoint where we make the assumption that
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* the vehicle can perfectly track the setpoints.
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*/
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vel_sp_previous = vel_sp_current;
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vel_sp_current = 0.0f;
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vel = vel_sp_previous;
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}
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return true;
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}
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bool SmoothZTest::brakeDownward()
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{
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/* Downward flight and want to stop */
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float stick_current = 0.0f; // sticks are at zero position
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float vel_sp_current = 0.0f; // desired velocity is 0m/s
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float vel_sp_previous = -5.0f; // the demanded previous setpoint was -5m/s downwards
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float vel = vel_sp_previous; // assume that current velocity is equal to previous vel setpoint
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float acc_max_up = 5.0f;
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float acc_max_down = 2.0f;
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ManualSmoothingZ smooth(nullptr, vel, stick_current);
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/* overwrite parameters since they might change depending on configuration */
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smooth.overwriteAccelerationDown(acc_max_down); // downward max acceleration of 2m/ss
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smooth.overwriteAccelerationUp(acc_max_up); // upward max acceleration of 5m/ss
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smooth.overwriteJerkMax(0.1f); // maximum jerk of 0.1
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float dt = 0.1f; // dt is set to 0.1s
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/* It should start with acceleration */
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ut_assert_true(smooth.getIntention() == ManualIntentionZ::acceleration);
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for (int i = 0; i < 100; i++) {
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smooth.smoothVelFromSticks(vel_sp_current, dt);
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/* Test if intention is brake */
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ut_assert_true(smooth.getIntention() == ManualIntentionZ::brake);
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/* New setpoint has to be larger than previous setpoint (NED frame) or equal 0. 0 velocity
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* occurs once the vehicle is at perfect rest. */
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ut_assert_true((vel_sp_current > vel_sp_previous) || (fabsf(vel_sp_current) < FLT_EPSILON));
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/* we should always use downward acceleration except when vehicle is at rest*/
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if (fabsf(vel_sp_previous) < FLT_EPSILON) {
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ut_assert_true(fabsf(smooth.getMaxAcceleration() - acc_max_up) < FLT_EPSILON);
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} else {
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ut_assert_true(fabsf(smooth.getMaxAcceleration() - acc_max_down) < FLT_EPSILON);
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}
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/* We reset the previou setpoint to newest setpoint
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* and set the current setpoint to 0 because we still want to brake.
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* We also set vel to previous setpoint where we make the assumption that
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* the vehicle can perfectly track the setpoints.
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*/
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vel_sp_previous = vel_sp_current;
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vel_sp_current = 0.0f;
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vel = vel_sp_previous;
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}
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return true;
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}
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bool SmoothZTest::accelerateUpwardFromBrake()
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{
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/* Downward flight and want to stop */
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float stick_current = -1.0f; // sticks are at full upward position
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float vel_sp_target = -5.0f; // desired velocity is at -5m/s
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float vel_sp_current = vel_sp_target;
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float vel_sp_previous = 0.0f; // the demanded previous setpoint was 0m/s downwards
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float vel = vel_sp_previous; // assume that current velocity is equal to previous vel setpoint
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float acc_max_up = 5.0f;
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float acc_max_down = 2.0f;
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ManualSmoothingZ smooth(nullptr, vel, stick_current);
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/* overwrite parameters since they might change depending on configuration */
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smooth.overwriteAccelerationDown(acc_max_down); // downward max acceleration of 2m/ss
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smooth.overwriteAccelerationUp(acc_max_up); // upward max acceleration of 5m/ss
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smooth.overwriteJerkMax(0.1f); // maximum jerk of 0.1
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float dt = 0.1f; // dt is set to 0.1s
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for (int i = 0; i < 100; i++) {
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smooth.smoothVelFromSticks(vel_sp_current, dt);
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/* Test if intention is acceleration */
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ut_assert_true(smooth.getIntention() == ManualIntentionZ::acceleration);
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/* we should always use upward acceleration */
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ut_assert_true(fabsf(smooth.getMaxAcceleration() - acc_max_up) < FLT_EPSILON);
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/* New setpoint has to be larger than previous setpoint or equal to target velocity
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* vel_sp_current. The negative sign is because of NED frame.
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*/
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ut_assert_true((-vel_sp_current > -vel_sp_previous) || (fabsf(vel_sp_current - vel_sp_previous) < FLT_EPSILON));
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/* We reset the previous setpoint to newest setpoint and reset the current setpoint.
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* We also set the current velocity to the previous setpoint with the assumption that
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* the vehicle does perfect tracking.
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*/
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vel_sp_previous = vel_sp_current;
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vel_sp_current = vel_sp_target;
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vel = vel_sp_previous;
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}
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return true;
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}
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bool SmoothZTest::accelerateDownwardFromBrake()
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{
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/* Downward flight and want to stop */
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float stick_current = 1.0f; // sticks are at full downward position
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float vel_sp_target = 5.0f; // desired velocity is at 5m/s
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float vel_sp_current = vel_sp_target;
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float vel_sp_previous = 0.0f; // the demanded previous setpoint was 0m/s downwards
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float vel = vel_sp_previous; // assume that current velocity is equal to previous vel setpoint
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float acc_max_up = 5.0f;
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float acc_max_down = 2.0f;
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ManualSmoothingZ smooth(nullptr, vel, stick_current);
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/* overwrite parameters since they might change depending on configuration */
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smooth.overwriteAccelerationDown(acc_max_down); // downward max acceleration of 2m/ss
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smooth.overwriteAccelerationUp(acc_max_up); // upward max acceleration of 5m/ss
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smooth.overwriteJerkMax(0.1f); // maximum jerk of 0.1
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float dt = 0.1f; // dt is set to 0.1s
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for (int i = 0; i < 100; i++) {
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smooth.smoothVelFromSticks(vel_sp_current, dt);
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/* Test if intention is acceleration */
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ut_assert_true(smooth.getIntention() == ManualIntentionZ::acceleration);
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/* we should always use downward acceleration except when target velocity is reached */
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if (fabsf(vel_sp_current - vel_sp_target) < FLT_EPSILON) {
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ut_assert_true(smooth.getMaxAcceleration() - acc_max_up < FLT_EPSILON);
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} else {
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ut_assert_true(fabsf(smooth.getMaxAcceleration() - acc_max_down) < FLT_EPSILON);
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}
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/* New setpoint has to be larger than previous setpoint or equal to target velocity
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* vel_sp_current (NED frame).
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*/
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ut_assert_true((vel_sp_current > vel_sp_previous) || (fabsf(vel_sp_current - vel_sp_target) < FLT_EPSILON));
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/* We reset the previous setpoint to newest setpoint and reset the current setpoint.
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* We also set the current velocity to the previous setpoint with the assumption that
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* the vehicle does perfect tracking.
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*/
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vel_sp_previous = vel_sp_current;
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vel_sp_current = vel_sp_target;
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vel = vel_sp_previous;
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}
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return true;
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}
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ut_declare_test_c(test_smooth_z, SmoothZTest)
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@@ -114,7 +114,6 @@ const struct {
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{"search_min", test_search_min, 0},
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{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"sleep", test_sleep, OPT_NOJIGTEST},
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{"smoothz", test_smooth_z, 0},
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{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"versioning", test_versioning, 0},
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@@ -80,7 +80,6 @@ extern int test_rc(int argc, char *argv[]);
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extern int test_search_min(int argc, char *argv[]);
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extern int test_servo(int argc, char *argv[]);
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extern int test_sleep(int argc, char *argv[]);
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extern int test_smooth_z(int argc, char *argv[]);
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extern int test_time(int argc, char *argv[]);
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extern int test_uart_baudchange(int argc, char *argv[]);
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extern int test_uart_break(int argc, char *argv[]);
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