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59 lines
2.3 KiB
C++
59 lines
2.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020-2021 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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* Test code for pid_design functions
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* Run this test only using make tests TESTFILTER=pid_design
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*/
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#include <gtest/gtest.h>
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#include <matrix/matrix/math.hpp>
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#include "pid_design.hpp"
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using namespace pid_design;
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using namespace matrix;
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TEST(PidDesignTest, testImpl)
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{
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const Vector3f num(.0098f, -0.162f, .147f);
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const Vector3f den(1.f, -1.814f, .822f);
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const float dt = 0.004f;
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const Vector3f kid = computePidGmvc(num, den, dt, 0.1f, 1.f, 0.5f);
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// Compare with values generated from the python implementation
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EXPECT_NEAR(kid(0), 0.129f, .001f);
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EXPECT_NEAR(kid(1), 11.911f / 5.f, .001f);
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EXPECT_NEAR(kid(2), 0.0463f, .0001f);
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}
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