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Silvan Fuhrer
d8ed35c422
And only use Home position if current vehicle position is unknown. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
500 lines
16 KiB
C++
500 lines
16 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2022-2023 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 "FeasibilityChecker.hpp"
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#include <lib/geo/geo.h>
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// to run: make tests TESTFILTER=FeasibilityChecker
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class FeasibilityCheckerTest : public ::testing::Test
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{
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public:
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void SetUp() override
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{
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param_control_autosave(false);
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param_reset_all();
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}
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};
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class TestFeasibilityChecker : public FeasibilityChecker
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{
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public:
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TestFeasibilityChecker() : FeasibilityChecker() {}
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void paramsChanged() {FeasibilityChecker::updateParamsImpl();}
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void publishHomePosition(double lat, double lon, float alt)
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{
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home_position_s home = {};
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home.alt = alt;
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home.valid_alt = true;
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home.lat = lat;
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home.lon = lon;
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home.valid_hpos = true;
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orb_advert_t home_pub = orb_advertise(ORB_ID(home_position), &home);
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orb_publish(ORB_ID(home_position), home_pub, &home);
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}
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void publishCurrentPosition(double lat, double lon)
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{
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vehicle_global_position_s gpos = {};
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gpos.lat = lat;
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gpos.lon = lon;
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orb_advert_t gpos_pub = orb_advertise(ORB_ID(vehicle_global_position), &gpos);
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orb_publish(ORB_ID(vehicle_global_position), gpos_pub, &gpos);
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}
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void publishLanded(bool landed)
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{
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vehicle_land_detected_s land_detected = {};
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land_detected.landed = true;
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orb_advert_t landed_pub = orb_advertise(ORB_ID(vehicle_land_detected), &land_detected);
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orb_publish(ORB_ID(vehicle_land_detected), landed_pub, &land_detected);
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}
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void publishVehicleType(int vehicle_type)
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{
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vehicle_status_s status = {};
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status.vehicle_type = vehicle_type;
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orb_advert_t status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
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orb_publish(ORB_ID(vehicle_status), status_pub, &status);
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}
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};
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TEST_F(FeasibilityCheckerTest, instantiation)
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{
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FeasibilityChecker checker;
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}
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TEST_F(FeasibilityCheckerTest, mission_item_validity)
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{
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TestFeasibilityChecker checker;
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checker.publishLanded(true);
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// supported mission item should pass
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mission_item_s mission_item = {};
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), false);
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// when landed the first item cannot be a land item
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checker.reset();
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checker.publishHomePosition(0, 0, 100.f);
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checker.publishLanded(true);
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mission_item.nav_cmd = NAV_CMD_LAND;
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bool ret = checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// mission item validity failed
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ASSERT_EQ(ret, false);
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checker.reset();
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mission_item.nav_cmd = NAV_CMD_TAKEOFF;
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mission_item.altitude_is_relative = true;
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ret = checker.processNextItem(mission_item, 0, 5);
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// home alt is not valid but we have a relative mission item, should fail immediately
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ASSERT_EQ(ret, false);
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}
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TEST_F(FeasibilityCheckerTest, check_dist_first_waypoint)
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{
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// GIVEN: MIS_DIST_1WP set to 500m
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TestFeasibilityChecker checker;
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checker.publishLanded(true);
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param_t param = param_handle(px4::params::MIS_DIST_1WP);
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float max_dist = 500.0f;
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param_set(param, &max_dist);
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checker.paramsChanged();
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mission_item_s mission_item = {};
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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double lat_new, lon_new;
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// GIVEN: no valid Current position, no valid Home
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// THEN: always pass
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), false);
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// GIVEN: no valid current position, but valid Home. First WP 501m away from Home
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checker.reset();
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 0);
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waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 501, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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// THEN: check should fail
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// BUT WHEN: no valid current position, but valid Home. First WP 499m away from Home
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checker.reset();
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 0);
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waypoint_from_heading_and_distance(0, 0, 0, 499, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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// THEN: pass
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), false);
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// BUT WHEN: valid current position, valid Home, first WP 501m away from current pos
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checker.reset();
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 0);
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checker.publishCurrentPosition(0, 0);
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waypoint_from_heading_and_distance(0, 0, 0, 501, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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// THEN: fail
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// BUT WHEN: valid current position, valid Home, fist WP 499m away from current but more from Home
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checker.reset();
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checker.publishLanded(true);
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checker.publishHomePosition(10, 20, 0); // random position far away
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checker.publishCurrentPosition(0, 0);
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waypoint_from_heading_and_distance(0, 0, 0, 499, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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// THEN: pass
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), false);
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}
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TEST_F(FeasibilityCheckerTest, check_below_home)
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{
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TestFeasibilityChecker checker;
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checker.publishLanded(true);
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//checker.publishHomePosition(0,0,100);
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mission_item_s mission_item = {};
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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mission_item.altitude = 50;
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mission_item.altitude_is_relative = true;
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checker.processNextItem(mission_item, 0, 1);
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// this is done to invalidate the home position
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checker.reset();
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checker.publishLanded(true);
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checker.processNextItem(mission_item, 0, 1);
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// cannot have relative altitude without valid home position
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ASSERT_EQ(checker.someCheckFailed(), true);
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}
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TEST_F(FeasibilityCheckerTest, check_takeoff)
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{
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TestFeasibilityChecker checker;
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 100);
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// takeoff altitude is smaller than acceptance radius, should fail
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mission_item_s mission_item = {};
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mission_item.nav_cmd = NAV_CMD_TAKEOFF;
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mission_item.altitude = -5.0f;
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mission_item.altitude_is_relative = true;
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), true);
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checker.reset();
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 100);
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// takeoff altitude is larger than home altitude, should pass
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mission_item.altitude = 0.1f;
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), false);
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// takeoff item needs to be first item
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checker.reset();
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 100);
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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checker.processNextItem(mission_item, 0, 2);
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mission_item.nav_cmd = NAV_CMD_TAKEOFF;
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checker.processNextItem(mission_item, 1, 2);
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ASSERT_EQ(checker.someCheckFailed(), true);
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}
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TEST_F(FeasibilityCheckerTest, fixed_wing_land_approach)
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{
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TestFeasibilityChecker checker;
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 100);
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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mission_item_s mission_item = {};
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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mission_item.altitude = 50;
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mission_item.altitude_is_relative = true;
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checker.processNextItem(mission_item, 0, 2);
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mission_item.nav_cmd = NAV_CMD_LAND;
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mission_item.altitude = 60;
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checker.processNextItem(mission_item, 1, 2);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// landing point should not be within loiter radius of previous waypoint
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checker.reset();
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checker.publishLanded(true);
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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checker.publishHomePosition(0, 0, 100);
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mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
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mission_item.altitude = 50;
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mission_item.loiter_radius = 100;
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checker.processNextItem(mission_item, 0, 2);
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double lat_new, lon_new;
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waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 99, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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mission_item.nav_cmd = NAV_CMD_LAND;
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mission_item.altitude = 40;
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checker.processNextItem(mission_item, 1, 2);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// only loiter to alt or plain waypoint type are allowed before landing
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checker.reset();
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checker.publishLanded(true);
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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checker.publishHomePosition(0, 0, 100);
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mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
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mission_item.altitude = 50;
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mission_item.loiter_radius = 50;
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checker.processNextItem(mission_item, 0, 2);
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waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 99, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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mission_item.nav_cmd = NAV_CMD_LAND;
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mission_item.altitude = 40;
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checker.processNextItem(mission_item, 1, 2);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// fail the glide slope
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checker.reset();
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checker.publishLanded(true);
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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checker.publishHomePosition(0, 0, 100);
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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mission_item.altitude = 50;
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mission_item.loiter_radius = 50;
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checker.processNextItem(mission_item, 0, 2);
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waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 1, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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mission_item.nav_cmd = NAV_CMD_LAND;
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mission_item.altitude = 40;
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checker.processNextItem(mission_item, 1, 2);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// fixed wing land approach checks should not be executed for rotary wing
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
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checker.reset();
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 100);
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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mission_item.altitude = 50;
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mission_item.loiter_radius = 50;
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checker.processNextItem(mission_item, 0, 2);
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waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 1, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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mission_item.nav_cmd = NAV_CMD_LAND;
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mission_item.altitude = 40;
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checker.processNextItem(mission_item, 1, 2);
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ASSERT_EQ(checker.someCheckFailed(), false);
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}
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TEST_F(FeasibilityCheckerTest, fixed_wing_landing)
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{
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// multiple do land start are not allowed
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TestFeasibilityChecker checker;
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 100);
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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mission_item_s mission_item = {};
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mission_item.nav_cmd = NAV_CMD_DO_LAND_START;
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checker.processNextItem(mission_item, 0, 2);
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checker.processNextItem(mission_item, 1, 2);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// cannot start with land waypoint
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checker.reset();
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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mission_item.nav_cmd = NAV_CMD_LAND;
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checker.processNextItem(mission_item, 0, 2);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// cannot have land start before RTL
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checker.reset();
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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mission_item.nav_cmd = NAV_CMD_DO_LAND_START;
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checker.processNextItem(mission_item, 0, 2);
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mission_item.nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
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checker.processNextItem(mission_item, 1, 2);
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ASSERT_EQ(checker.someCheckFailed(), true);
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// cannot have land start after landing waypoint
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checker.reset();
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checker.publishHomePosition(0, 0, 100);
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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mission_item.altitude = 10;
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mission_item.altitude_is_relative = true;
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checker.processNextItem(mission_item, 0, 3);
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mission_item.nav_cmd = NAV_CMD_LAND;
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mission_item.altitude = 0;
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double lat_new, lon_new;
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waypoint_from_heading_and_distance(mission_item.lat, mission_item.lon, 0, 200, &lat_new, &lon_new);
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mission_item.lat = lat_new;
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mission_item.lon = lon_new;
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checker.processNextItem(mission_item, 1, 3);
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mission_item.nav_cmd = NAV_CMD_DO_LAND_START;
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checker.processNextItem(mission_item, 2, 3);
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ASSERT_EQ(checker.someCheckFailed(), true);
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checker.reset();
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param_t param = param_handle(px4::params::MIS_TKO_LAND_REQ);
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// not takeoff land requiremntes, check should pass
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int param_val = 0;
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param_set(param, ¶m_val);
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checker.paramsChanged();
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checker.publishHomePosition(0, 0, 100);
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checker.publishVehicleType(vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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checker.processNextItem(mission_item, 0, 3);
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mission_item.nav_cmd = NAV_CMD_DO_LAND_START;
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checker.processNextItem(mission_item, 1, 3);
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mission_item.nav_cmd = NAV_CMD_LAND;
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checker.processNextItem(mission_item, 2, 3);
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ASSERT_EQ(checker.someCheckFailed(), false);
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}
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TEST_F(FeasibilityCheckerTest, check_takeoff_land_requirements)
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{
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TestFeasibilityChecker checker;
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checker.publishLanded(true);
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checker.publishHomePosition(0, 0, 0);
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param_t param = param_handle(px4::params::MIS_TKO_LAND_REQ);
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// not takeoff land requiremntes, check should pass
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int param_val = 0;
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param_set(param, ¶m_val);
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checker.paramsChanged();
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mission_item_s mission_item = {};
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mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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checker.processNextItem(mission_item, 0, 1);
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ASSERT_EQ(checker.someCheckFailed(), false);
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// require takeoff, check should fail
|
|
param_val = 1;
|
|
param_set(param, ¶m_val);
|
|
checker.paramsChanged();
|
|
checker.processNextItem(mission_item, 0, 1);
|
|
ASSERT_EQ(checker.someCheckFailed(), true);
|
|
|
|
// require landing, check should fail
|
|
param_val = 2;
|
|
param_set(param, ¶m_val);
|
|
checker.paramsChanged();
|
|
checker.processNextItem(mission_item, 0, 1);
|
|
ASSERT_EQ(checker.someCheckFailed(), true);
|
|
|
|
// require both takeoff and landing, check should fail
|
|
param_val = 3;
|
|
param_set(param, ¶m_val);
|
|
checker.paramsChanged();
|
|
checker.processNextItem(mission_item, 0, 1);
|
|
ASSERT_EQ(checker.someCheckFailed(), true);
|
|
|
|
// require takeoff and land or none, this should pass as we don't have either
|
|
param_val = 4;
|
|
param_set(param, ¶m_val);
|
|
checker.paramsChanged();
|
|
checker.processNextItem(mission_item, 0, 1);
|
|
ASSERT_EQ(checker.someCheckFailed(), false);
|
|
}
|