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93 lines
4.0 KiB
C++
93 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2023 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 "AttitudeControlMath.hpp"
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using namespace matrix;
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using namespace AttitudeControlMath;
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static const Vector3f z_unit(0.f, 0.f, 1.f);
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TEST(AttitudeControlMath, tiltCorrectionNoError)
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{
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// GIVEN: some desired (non yaw-rotated) tilt setpoint
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Quatf q_tilt_sp_ne(z_unit, Vector3f(-0.3, 0.1, 0.7));
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// AND: a desired yaw setpoint
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const Quatf q_sp_yaw = AxisAnglef(z_unit, -1.23f);
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// WHEN: the current yaw error is zero (regardless of the tilt)
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const Quatf q = q_sp_yaw * Quatf(z_unit, Vector3f(0.1f, -0.2f, 1.f));
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const Quatf q_tilt_sp_ne_before = q_tilt_sp_ne;
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correctTiltSetpointForYawError(q_tilt_sp_ne, q, q_sp_yaw);
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// THEN: the tilt setpoint is unchanged
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EXPECT_TRUE(isEqual(q_tilt_sp_ne_before, q_tilt_sp_ne));
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}
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TEST(AttitudeControlMath, tiltCorrectionYaw180)
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{
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// GIVEN: some desired (non yaw-rotated) tilt setpoint and a desired yaw setpoint
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Quatf q_tilt_sp_ne(z_unit, Vector3f(-0.3, 0.1, 0.7));
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const Quatf q_sp_yaw = AxisAnglef(z_unit, -M_PI_F / 2.f);
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// WHEN: there is a yaw error of 180 degrees
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const Quatf q_yaw = Quatf(AxisAnglef(z_unit, M_PI_F / 2.f));
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const Quatf q = q_yaw * Quatf(z_unit, Vector3f(0.1f, -0.2f, 1.f));
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const Quatf q_tilt_sp_ne_before = q_tilt_sp_ne;
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correctTiltSetpointForYawError(q_tilt_sp_ne, q, q_sp_yaw);
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// THEN: the tilt is reversed (the corrected tilt angle is the same but the axis of rotation is opposite)
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EXPECT_FLOAT_EQ(AxisAnglef(q_tilt_sp_ne_before).angle(), AxisAnglef(q_tilt_sp_ne).angle());
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EXPECT_TRUE(isEqual(AxisAnglef(q_tilt_sp_ne_before).axis(), -AxisAnglef(q_tilt_sp_ne).axis()));
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}
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TEST(AttitudeControlMath, tiltCorrection)
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{
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// GIVEN: some desired (non yaw-rotated) tilt setpoint and a desired yaw setpoint
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Quatf q_tilt_sp_ne(z_unit, Vector3f(0.5, -0.1, 0.7));
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const Quatf q_sp_yaw = AxisAnglef(z_unit, -1.23f);
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// WHEN: there is a some yaw error
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const Quatf q_yaw = Quatf(AxisAnglef(z_unit, 3.1f));
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const Quatf q = q_yaw * Quatf(z_unit, Vector3f(0.1f, -0.2f, 1.f));
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const Quatf q_tilt_sp_ne_before = q_tilt_sp_ne;
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correctTiltSetpointForYawError(q_tilt_sp_ne, q, q_sp_yaw);
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// THEN: the tilt vector obtained by rotating the corrected tilt by the yaw setpoint is the same as
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// the one obtained by rotating the initial tilt by the current yaw of the vehicle
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EXPECT_TRUE(isEqual((q_sp_yaw * q_tilt_sp_ne).dcm_z(), (q_yaw * q_tilt_sp_ne_before).dcm_z()));
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}
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