mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-28 10:04:06 +08:00
139 lines
4.3 KiB
C++
139 lines
4.3 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include <gtest/gtest.h>
|
|
#include <AttitudeControl.hpp>
|
|
#include <mathlib/math/Functions.hpp>
|
|
|
|
using namespace matrix;
|
|
|
|
TEST(AttitudeControlTest, AllZeroCase)
|
|
{
|
|
AttitudeControl attitude_control;
|
|
Vector3f rate_setpoint = attitude_control.update(Quatf(), Quatf(), 0.f);
|
|
EXPECT_EQ(rate_setpoint, Vector3f());
|
|
}
|
|
|
|
class AttitudeControlConvergenceTest : public ::testing::Test
|
|
{
|
|
public:
|
|
AttitudeControlConvergenceTest()
|
|
{
|
|
_attitude_control.setProportionalGain(Vector3f(.5f, .6f, .3f));
|
|
_attitude_control.setRateLimit(Vector3f(100, 100, 100));
|
|
}
|
|
|
|
void checkConvergence()
|
|
{
|
|
int i; // need function scope to check how many steps
|
|
Vector3f rate_setpoint(1000, 1000, 1000);
|
|
printf("Iterations: ");
|
|
|
|
for (i = 100; i > 0; i--) {
|
|
printf("%d ", i);
|
|
// run attitude control to get rate setpoints
|
|
const Vector3f rate_setpoint_new = _attitude_control.update(_quat_state, _quat_goal, 0.f);
|
|
|
|
// expect the error and hence also the output to get smaller with each iteration
|
|
if (rate_setpoint_new.norm() >= rate_setpoint.norm()) {
|
|
break;
|
|
}
|
|
|
|
rate_setpoint = rate_setpoint_new;
|
|
// rotate the simulated state quaternion according to the rate setpoint
|
|
_quat_state = _quat_state * Quatf(AxisAnglef(rate_setpoint));
|
|
}
|
|
|
|
printf("\n");
|
|
|
|
// it shouldn't have taken longer than an iteration timeout to converge
|
|
EXPECT_GT(i, 0);
|
|
// we need to have reached the goal attitude
|
|
EXPECT_EQ(antipodal(_quat_state), antipodal(_quat_goal));
|
|
}
|
|
|
|
Quatf antipodal(const Quatf q)
|
|
{
|
|
return q * math::signNoZero(q(0));
|
|
}
|
|
|
|
AttitudeControl _attitude_control;
|
|
Quatf _quat_state;
|
|
Quatf _quat_goal;
|
|
};
|
|
|
|
TEST_F(AttitudeControlConvergenceTest, AttitudeControlConvergenceUnit)
|
|
{
|
|
_quat_state = Quatf();
|
|
checkConvergence();
|
|
}
|
|
|
|
TEST_F(AttitudeControlConvergenceTest, AttitudeControlConvergenceRoll180)
|
|
{
|
|
_quat_state = Quatf(0, 1, 0, 0);
|
|
checkConvergence();
|
|
}
|
|
|
|
TEST_F(AttitudeControlConvergenceTest, AttitudeControlConvergencePitch180)
|
|
{
|
|
_quat_state = Quatf(0, 0, 1, 0);
|
|
checkConvergence();
|
|
}
|
|
|
|
TEST_F(AttitudeControlConvergenceTest, AttitudeControlConvergenceYaw180)
|
|
{
|
|
_quat_state = Quatf(0, 0, 0, 1);
|
|
checkConvergence();
|
|
}
|
|
|
|
TEST_F(AttitudeControlConvergenceTest, AttitudeControlConvergenceRandom)
|
|
{
|
|
const Quatf QRandom[] = {
|
|
Quatf(0.698f, 0.024f, -0.681f, -0.220f),
|
|
Quatf(-0.820f, -0.313f, 0.225f, -0.423f),
|
|
Quatf(0.599f, -0.172f, 0.755f, -0.204f),
|
|
Quatf(0.216f, -0.662f, 0.290f, -0.656f)
|
|
};
|
|
|
|
for (int i = 0; i < 4; i++) {
|
|
for (int j = 0; j < 4; j++) {
|
|
printf("Random combination: %d %d\n", i, j);
|
|
_quat_state = QRandom[i];
|
|
_quat_goal = QRandom[j];
|
|
_quat_state.normalize();
|
|
_quat_goal.normalize();
|
|
checkConvergence();
|
|
}
|
|
}
|
|
}
|