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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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6ccf55b6fd
This function updates the vertical velocity integrator with the change in hover thrust to avoid propagating discontinuities through the controller when changing the hover thrust. This is also important when using the hover thrust estimator as its estimate has unconstrained dynamics and can cause drops or kicks when the estimate updates faster than the velocity integrator.
358 lines
12 KiB
C++
358 lines
12 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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#include <gtest/gtest.h>
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#include <PositionControl.hpp>
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#include <px4_defines.h>
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using namespace matrix;
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TEST(PositionControlTest, EmptySetpoint)
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{
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PositionControl position_control;
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vehicle_local_position_setpoint_s output_setpoint{};
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position_control.getLocalPositionSetpoint(output_setpoint);
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EXPECT_FLOAT_EQ(output_setpoint.x, 0.f);
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EXPECT_FLOAT_EQ(output_setpoint.y, 0.f);
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EXPECT_FLOAT_EQ(output_setpoint.z, 0.f);
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EXPECT_FLOAT_EQ(output_setpoint.yaw, 0.f);
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EXPECT_FLOAT_EQ(output_setpoint.yawspeed, 0.f);
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EXPECT_FLOAT_EQ(output_setpoint.vx, 0.f);
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EXPECT_FLOAT_EQ(output_setpoint.vy, 0.f);
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EXPECT_FLOAT_EQ(output_setpoint.vz, 0.f);
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EXPECT_EQ(Vector3f(output_setpoint.acceleration), Vector3f(0.f, 0.f, 0.f));
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EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(0.f, 0.f, 0.f));
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EXPECT_EQ(Vector3f(output_setpoint.thrust), Vector3f(0, 0, 0));
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vehicle_attitude_setpoint_s attitude{};
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position_control.getAttitudeSetpoint(attitude);
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EXPECT_FLOAT_EQ(attitude.roll_body, 0.f);
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EXPECT_FLOAT_EQ(attitude.pitch_body, 0.f);
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EXPECT_FLOAT_EQ(attitude.yaw_body, 0.f);
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EXPECT_FLOAT_EQ(attitude.yaw_sp_move_rate, 0.f);
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EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f));
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EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f));
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EXPECT_EQ(attitude.roll_reset_integral, false);
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EXPECT_EQ(attitude.pitch_reset_integral, false);
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EXPECT_EQ(attitude.yaw_reset_integral, false);
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EXPECT_EQ(attitude.fw_control_yaw, false);
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EXPECT_FLOAT_EQ(attitude.apply_flaps, 0.f);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
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}
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class PositionControlBasicTest : public ::testing::Test
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{
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public:
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PositionControlBasicTest()
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{
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_position_control.setPositionGains(Vector3f(1.f, 1.f, 1.f));
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_position_control.setVelocityGains(Vector3f(1.f, 1.f, 1.f), Vector3f(1.f, 1.f, 1.f), Vector3f(1.f, 1.f, 1.f));
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_position_control.setVelocityLimits(1.f, 1.f, 1.f);
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_position_control.setThrustLimits(0.1f, 0.9f);
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_position_control.setTiltLimit(1.f);
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_position_control.setHoverThrust(.5f);
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_contraints.tilt = 1.f;
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_contraints.speed_xy = NAN;
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_contraints.speed_up = NAN;
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_contraints.speed_down = NAN;
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resetInputSetpoint();
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}
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void resetInputSetpoint()
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{
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_input_setpoint.x = NAN;
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_input_setpoint.y = NAN;
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_input_setpoint.z = NAN;
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_input_setpoint.yaw = NAN;
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_input_setpoint.yawspeed = NAN;
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_input_setpoint.vx = NAN;
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_input_setpoint.vy = NAN;
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_input_setpoint.vz = NAN;
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Vector3f(NAN, NAN, NAN).copyTo(_input_setpoint.acceleration);
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Vector3f(NAN, NAN, NAN).copyTo(_input_setpoint.thrust);
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}
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bool runController()
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{
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_position_control.setConstraints(_contraints);
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_position_control.setInputSetpoint(_input_setpoint);
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const bool ret = _position_control.update(.1f);
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_position_control.getLocalPositionSetpoint(_output_setpoint);
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_position_control.getAttitudeSetpoint(_attitude);
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return ret;
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}
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PositionControl _position_control;
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vehicle_constraints_s _contraints{};
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vehicle_local_position_setpoint_s _input_setpoint{};
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vehicle_local_position_setpoint_s _output_setpoint{};
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vehicle_attitude_setpoint_s _attitude{};
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};
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class PositionControlBasicDirectionTest : public PositionControlBasicTest
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{
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public:
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void checkDirection()
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{
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Vector3f thrust(_output_setpoint.thrust);
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EXPECT_GT(thrust(0), 0.f);
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EXPECT_GT(thrust(1), 0.f);
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EXPECT_LT(thrust(2), 0.f);
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Vector3f body_z = Quatf(_attitude.q_d).dcm_z();
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EXPECT_LT(body_z(0), 0.f);
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EXPECT_LT(body_z(1), 0.f);
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EXPECT_GT(body_z(2), 0.f);
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}
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};
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TEST_F(PositionControlBasicDirectionTest, PositionDirection)
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{
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_input_setpoint.x = .1f;
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_input_setpoint.y = .1f;
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_input_setpoint.z = -.1f;
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EXPECT_TRUE(runController());
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checkDirection();
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}
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TEST_F(PositionControlBasicDirectionTest, VelocityDirection)
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{
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_input_setpoint.vx = .1f;
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_input_setpoint.vy = .1f;
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_input_setpoint.vz = -.1f;
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EXPECT_TRUE(runController());
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checkDirection();
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}
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TEST_F(PositionControlBasicTest, TiltLimit)
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{
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_input_setpoint.x = 10.f;
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_input_setpoint.y = 10.f;
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_input_setpoint.z = -0.f;
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EXPECT_TRUE(runController());
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Vector3f body_z = Quatf(_attitude.q_d).dcm_z();
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float angle = acosf(body_z.dot(Vector3f(0.f, 0.f, 1.f)));
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EXPECT_GT(angle, 0.f);
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EXPECT_LE(angle, 1.f);
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_contraints.tilt = .5f;
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EXPECT_TRUE(runController());
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body_z = Quatf(_attitude.q_d).dcm_z();
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angle = acosf(body_z.dot(Vector3f(0.f, 0.f, 1.f)));
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EXPECT_GT(angle, 0.f);
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EXPECT_LE(angle, .50001f);
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}
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TEST_F(PositionControlBasicTest, VelocityLimit)
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{
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_input_setpoint.x = 10.f;
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_input_setpoint.y = 10.f;
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_input_setpoint.z = -10.f;
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EXPECT_TRUE(runController());
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Vector2f velocity_xy(_output_setpoint.vx, _output_setpoint.vy);
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EXPECT_LE(velocity_xy.norm(), 1.f);
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EXPECT_LE(abs(_output_setpoint.vz), 1.f);
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}
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TEST_F(PositionControlBasicTest, ThrustLimit)
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{
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_input_setpoint.x = 10.f;
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_input_setpoint.y = 10.f;
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_input_setpoint.z = -10.f;
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EXPECT_TRUE(runController());
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EXPECT_FLOAT_EQ(_attitude.thrust_body[0], 0.f);
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EXPECT_FLOAT_EQ(_attitude.thrust_body[1], 0.f);
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EXPECT_LT(_attitude.thrust_body[2], -.1f);
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EXPECT_GE(_attitude.thrust_body[2], -0.9f);
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}
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TEST_F(PositionControlBasicTest, FailsafeInput)
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{
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_input_setpoint.vz = .1f;
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_input_setpoint.thrust[0] = _input_setpoint.thrust[1] = 0.f;
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_input_setpoint.acceleration[0] = _input_setpoint.acceleration[1] = 0.f;
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EXPECT_TRUE(runController());
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EXPECT_FLOAT_EQ(_attitude.thrust_body[0], 0.f);
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EXPECT_FLOAT_EQ(_attitude.thrust_body[1], 0.f);
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EXPECT_LT(_output_setpoint.thrust[2], -.1f);
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EXPECT_GT(_output_setpoint.thrust[2], -.5f);
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EXPECT_GT(_attitude.thrust_body[2], -.5f);
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EXPECT_LE(_attitude.thrust_body[2], -.1f);
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}
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TEST_F(PositionControlBasicTest, InputCombinationsPosition)
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{
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_input_setpoint.x = .1f;
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_input_setpoint.y = .2f;
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_input_setpoint.z = .3f;
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EXPECT_TRUE(runController());
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EXPECT_FLOAT_EQ(_output_setpoint.x, .1f);
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EXPECT_FLOAT_EQ(_output_setpoint.y, .2f);
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EXPECT_FLOAT_EQ(_output_setpoint.z, .3f);
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EXPECT_FALSE(isnan(_output_setpoint.vx));
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EXPECT_FALSE(isnan(_output_setpoint.vy));
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EXPECT_FALSE(isnan(_output_setpoint.vz));
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EXPECT_FALSE(isnan(_output_setpoint.thrust[0]));
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EXPECT_FALSE(isnan(_output_setpoint.thrust[1]));
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EXPECT_FALSE(isnan(_output_setpoint.thrust[2]));
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}
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TEST_F(PositionControlBasicTest, InputCombinationsPositionVelocity)
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{
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_input_setpoint.vx = .1f;
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_input_setpoint.vy = .2f;
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_input_setpoint.z = .3f; // altitude
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EXPECT_TRUE(runController());
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// EXPECT_TRUE(isnan(_output_setpoint.x));
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// EXPECT_TRUE(isnan(_output_setpoint.y));
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EXPECT_FLOAT_EQ(_output_setpoint.z, .3f);
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EXPECT_FLOAT_EQ(_output_setpoint.vx, .1f);
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EXPECT_FLOAT_EQ(_output_setpoint.vy, .2f);
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EXPECT_FALSE(isnan(_output_setpoint.vz));
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EXPECT_FALSE(isnan(_output_setpoint.thrust[0]));
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EXPECT_FALSE(isnan(_output_setpoint.thrust[1]));
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EXPECT_FALSE(isnan(_output_setpoint.thrust[2]));
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}
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TEST_F(PositionControlBasicTest, SetpointValiditySimple)
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{
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EXPECT_FALSE(runController());
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_input_setpoint.x = .1f;
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EXPECT_FALSE(runController());
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_input_setpoint.y = .2f;
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EXPECT_FALSE(runController());
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_input_setpoint.thrust[2] = .3f;
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EXPECT_TRUE(runController());
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}
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TEST_F(PositionControlBasicTest, SetpointValidityAllCombinations)
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{
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// This test runs any position, velocity, thrust setpoint combination and checks if it gets accepted or rejected correctly
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float *const setpoint_loop_access_map[] = {&_input_setpoint.x, &_input_setpoint.vx, &_input_setpoint.thrust[0],
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&_input_setpoint.y, &_input_setpoint.vy, &_input_setpoint.thrust[1],
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&_input_setpoint.z, &_input_setpoint.vz, &_input_setpoint.thrust[2]
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};
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for (int combination = 0; combination < 512; combination++) {
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resetInputSetpoint();
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for (int j = 0; j < 9; j++) {
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if (combination & (1 << j)) {
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// Set arbitrary finite value, some values clearly hit the limits to check these corner case combinations
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*(setpoint_loop_access_map[j]) = static_cast<float>(combination) / static_cast<float>(j + 1);
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}
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}
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// Expect at least one setpoint per axis
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const bool has_x_setpoint = ((combination & 7) != 0);
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const bool has_y_setpoint = (((combination >> 3) & 7) != 0);
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const bool has_z_setpoint = (((combination >> 6) & 7) != 0);
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// Expect xy setpoints to come in pairs
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const bool has_xy_pairs = (combination & 7) == ((combination >> 3) & 7);
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const bool expected_result = has_x_setpoint && has_y_setpoint && has_z_setpoint && has_xy_pairs;
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EXPECT_EQ(runController(), expected_result) << "combination " << combination
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<< std::endl << "input" << std::endl
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<< "position " << _input_setpoint.x << ", " << _input_setpoint.y << ", " << _input_setpoint.z << std::endl
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<< "velocity " << _input_setpoint.vx << ", " << _input_setpoint.vy << ", " << _input_setpoint.vz << std::endl
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<< "thrust " << _input_setpoint.thrust[0] << ", " << _input_setpoint.thrust[1] << ", " << _input_setpoint.thrust[2]
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<< std::endl << "output" << std::endl
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<< "position " << _output_setpoint.x << ", " << _output_setpoint.y << ", " << _output_setpoint.z << std::endl
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<< "velocity " << _output_setpoint.vx << ", " << _output_setpoint.vy << ", " << _output_setpoint.vz << std::endl
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<< "thrust " << _output_setpoint.thrust[0] << ", " << _output_setpoint.thrust[1] << ", " << _output_setpoint.thrust[2]
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<< std::endl;
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}
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}
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TEST_F(PositionControlBasicTest, InvalidState)
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{
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_input_setpoint.x = .1f;
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_input_setpoint.y = .2f;
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_input_setpoint.z = .3f;
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PositionControlStates states{};
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states.position(0) = NAN;
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_position_control.setState(states);
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EXPECT_FALSE(runController());
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states.velocity(0) = NAN;
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_position_control.setState(states);
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EXPECT_FALSE(runController());
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states.position(0) = 0.f;
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_position_control.setState(states);
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EXPECT_FALSE(runController());
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states.velocity(0) = 0.f;
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states.acceleration(1) = NAN;
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_position_control.setState(states);
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EXPECT_FALSE(runController());
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}
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TEST_F(PositionControlBasicTest, UpdateHoverThrust)
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{
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// GIVEN: some hover thrust and 0 velocity change
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const float hover_thrust = 0.6f;
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_position_control.setHoverThrust(hover_thrust);
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_input_setpoint.vx = 0.f;
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_input_setpoint.vy = 0.f;
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_input_setpoint.vz = -0.f;
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// WHEN: we run the controller
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EXPECT_TRUE(runController());
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// THEN: the output thrust equals the hover thrust
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EXPECT_EQ(_output_setpoint.thrust[2], -hover_thrust);
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// HOWEVER WHEN: we set a new hover thrust through the update function
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const float hover_thrust_new = 0.7f;
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_position_control.updateHoverThrust(hover_thrust_new);
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EXPECT_TRUE(runController());
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// THEN: the integral is updated to avoid discontinuities and
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// the output is still the same
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EXPECT_EQ(_output_setpoint.thrust[2], -hover_thrust);
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const Vector3f integrator_new(_position_control.getIntegral());
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EXPECT_EQ(integrator_new(2) - hover_thrust_new, -hover_thrust);
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}
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