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