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The forced flag is used to distinguish between updates due to a configuration (parameter) change (only enabled when disarmed), and matrix updates due to motor tilt change. Only update the normalization scale if the forced flag is true, and use a tilt angle of vertical position for it to have the scales tilt-invariant. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
70 lines
2.8 KiB
C++
70 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 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 ControlAllocationTest.cpp
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*
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* Tests for Control Allocation Algorithms
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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#include <gtest/gtest.h>
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#include <ControlAllocationPseudoInverse.hpp>
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using namespace matrix;
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TEST(ControlAllocationTest, AllZeroCase)
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{
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ControlAllocationPseudoInverse method;
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matrix::Vector<float, 6> control_sp;
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matrix::Vector<float, 6> control_allocated;
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matrix::Vector<float, 6> control_allocated_expected;
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matrix::Matrix<float, 6, 16> effectiveness;
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matrix::Vector<float, 16> actuator_sp;
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matrix::Vector<float, 16> actuator_trim;
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matrix::Vector<float, 16> linearization_point;
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matrix::Vector<float, 16> actuator_sp_expected;
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method.setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, 16, false);
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method.setControlSetpoint(control_sp);
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method.allocate();
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method.clipActuatorSetpoint();
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actuator_sp = method.getActuatorSetpoint();
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control_allocated_expected = method.getAllocatedControl();
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EXPECT_EQ(actuator_sp, actuator_sp_expected);
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EXPECT_EQ(control_allocated, control_allocated_expected);
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}
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