mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 13:43:33 +08:00
f40ede6087
* [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>
48 lines
2.3 KiB
CMake
48 lines
2.3 KiB
CMake
############################################################################
|
|
#
|
|
# Copyright (c) 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.
|
|
#
|
|
############################################################################
|
|
|
|
px4_add_library(ControlAllocation
|
|
ControlAllocation.cpp
|
|
ControlAllocation.hpp
|
|
ControlAllocationPseudoInverse.cpp
|
|
ControlAllocationPseudoInverse.hpp
|
|
ControlAllocationSequentialDesaturation.cpp
|
|
ControlAllocationSequentialDesaturation.hpp
|
|
)
|
|
target_compile_options(ControlAllocation PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
|
|
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)
|