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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Balduin
e4f4d240b6
- higher airspeed targets
- higher pusher thrust
- higher takeoff attitude (arsp failure test)
in the airspeed failure case, the lowered airspeed reading causes the
controller to want to speed up until the (wrong) airspeed is at the
setpoint, i.e. the real airspeed quite a bit faster. without these
fixes, tecs does a nosedive to regain airspeed, but never becomes fast
enough (with already maxed out pusher thrust). we pervent this with
the first two adaptations, while the last one gives space for the
remaining nosedive.
fix this permanently by:
- ensuring the model makes sense definitely (pusher thrust, mass, aero
properties)
- noticing the failure faster
- adapting tecs so it doesn't nosedive?
- stop sending airspeed in sih
src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
is already doing that. in the sensor failure case (wrong), that implements
the failure, but the SIH one not, giving conflicting data. so switch
it off
- larger acceptance radius
quadx position mode is just not that accurate. is it a control/model
mismatch problem, or a simulation problem?
- wait longer for disarm in test_vtol_rtl
this would fail at large speed factors previously. timing bug or
acceptable small variation?
230 lines
8.3 KiB
C++
230 lines
8.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 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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#include "autopilot_tester_rtl.h"
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TEST_CASE("RTL direct Home", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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tester.set_rtl_appr_force(0);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.wait_until_disarmed(std::chrono::seconds(180));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL direct Mission Land", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// Do not allow home
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tester.set_rtl_type(1);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.wait_until_disarmed(std::chrono::seconds(180));
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tester.check_mission_land_within(5.0f);
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}
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TEST_CASE("RTL with Mission Landing", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission.plan");
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// Vehicle should follow the mission and use the mission landing
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tester.set_rtl_type(2);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.check_tracks_mission_raw(40.0f);
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tester.wait_until_disarmed(std::chrono::seconds(120));
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}
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TEST_CASE("RTL with Reverse Mission", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.set_takeoff_land_requirements(0);
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_without_landing.plan");
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// vehicle should follow the mission in reverse and land at the home position // TODO enable checks again if MAVSDK can handle mission in reverse order
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tester.set_rtl_type(2);
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(6);
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//tester.check_tracks_mission_raw(35.0f);
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tester.wait_until_disarmed(std::chrono::seconds(120));
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}
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TEST_CASE("RTL direct home without approaches", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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tester.set_rtl_appr_force(0);
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// reupload rally points with approaches
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tester.add_home_to_rally_point();
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tester.upload_rally_points();
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(4);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL direct home without approaches forced", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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tester.set_rtl_appr_force(1);
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// reupload rally points with approaches
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tester.add_home_to_rally_point();
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tester.upload_rally_points();
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(4);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_mission_land_within(5.f);
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}
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TEST_CASE("RTL direct home with approaches", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(0);
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// reupload rally points with approaches
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tester.add_home_with_approaches_to_rally_point();
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tester.upload_rally_points();
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(4);
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tester.check_rtl_approaches(5., std::chrono::seconds(60));
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_home_within(5.0f);
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}
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TEST_CASE("RTL direct home not as rally point", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// fly directly to home position
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tester.set_rtl_type(1);
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// reupload rally points with approaches
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tester.add_home_with_approaches_to_rally_point();
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tester.upload_rally_points();
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(2);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_mission_land_within(5.0f);
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}
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TEST_CASE("RTL direct rally without approaches", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// Do not allow home position
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tester.set_rtl_type(1);
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tester.set_rtl_appr_force(0);
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// reupload rally points with approaches
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tester.add_local_rally_point({100., -200.});
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tester.upload_rally_points();
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(3);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_rally_point_within(5.0f);
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tester.check_home_not_within(20.);
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}
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TEST_CASE("RTL direct rally without approaches forced", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// Do not allow home position
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tester.set_rtl_type(1);
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tester.set_rtl_appr_force(1);
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// reupload rally points with approaches
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tester.add_local_rally_point({100., -2000.});
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tester.upload_rally_points();
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(3);
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_mission_land_within(5.f);
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}
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TEST_CASE("RTL direct rally with approaches", "[vtol]")
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{
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AutopilotTesterRtl tester;
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.load_qgc_mission_raw_and_move_here("test/mavsdk_tests/vtol_mission_with_land_start.plan");
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// Do not allow home position
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tester.set_rtl_type(1);
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tester.set_rtl_appr_force(0);
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// reupload rally points with approaches
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tester.add_local_rally_with_approaches_point({100., -200.});
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tester.upload_rally_points();
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tester.arm();
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tester.execute_rtl_when_reaching_mission_sequence(3);
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tester.check_rtl_approaches(5., std::chrono::seconds(60));
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tester.wait_until_disarmed(std::chrono::seconds(150));
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tester.check_rally_point_within(5.0f);
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tester.check_home_not_within(20.);
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}
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