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3be015c3cb
* test: add StickYaw unit test for unaided_yaw NaN transition bug Adds a functional gtest that verifies the yaw setpoint does not jump discontinuously when unaided_yaw transitions from finite to NaN. Reproduces the bug fixed in #25710. * test(StickYaw): clarify unaided_yaw NaN root cause in test comment NaN originates from corrupted IMU delta_angle propagating through OutputPredictor::calculateOutputStates() Euler extraction.
78 lines
3.0 KiB
C++
78 lines
3.0 KiB
C++
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****************************************************************************/
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#include <gtest/gtest.h>
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#include "StickYaw.hpp"
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#include <px4_platform_common/defines.h>
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TEST(StickYawTest, UnaidedYawNanTransitionNoYawJump)
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{
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// When unaided_yaw transitions from finite to NAN mid-flight,
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// the yaw setpoint must not jump discontinuously.
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// See: https://github.com/PX4/PX4-Autopilot/pull/25710
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param_control_autosave(false);
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StickYaw stick_yaw{nullptr};
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float yawspeed_sp = 0.f;
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float yaw_sp = NAN;
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const float dt = 0.01f;
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// Phase 1: Establish yaw lock at yaw=0 with unaided_yaw=0
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stick_yaw.reset(0.f, 0.f);
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for (int i = 0; i < 10; i++) {
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stick_yaw.generateYawSetpoint(yawspeed_sp, yaw_sp, 0.f, 0.f, dt, 0.f);
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}
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EXPECT_NEAR(yaw_sp, 0.f, 0.01f);
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// Phase 2: Simulate EKF yaw correction — yaw jumps to 0.3 rad while
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// unaided_yaw stays at 0. This creates a yaw_error of 0.3 and triggers
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// the convergence detector, building up _yaw_correction ≈ 0.3.
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for (int i = 0; i < 5; i++) {
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stick_yaw.generateYawSetpoint(yawspeed_sp, yaw_sp, 0.f, 0.3f, dt, 0.f);
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}
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const float yaw_sp_before = yaw_sp;
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ASSERT_TRUE(PX4_ISFINITE(yaw_sp_before));
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// Phase 3: unaided_yaw becomes NAN — yaw setpoint must not jump.
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stick_yaw.generateYawSetpoint(yawspeed_sp, yaw_sp, 0.f, 0.3f, dt, NAN);
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EXPECT_NEAR(yaw_sp, yaw_sp_before, 0.01f)
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<< "Yaw setpoint jumped from " << yaw_sp_before << " to " << yaw_sp
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<< " when unaided_yaw became NAN";
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}
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