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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Balduin
e4f4d240b6
- higher airspeed targets
- higher pusher thrust
- higher takeoff attitude (arsp failure test)
in the airspeed failure case, the lowered airspeed reading causes the
controller to want to speed up until the (wrong) airspeed is at the
setpoint, i.e. the real airspeed quite a bit faster. without these
fixes, tecs does a nosedive to regain airspeed, but never becomes fast
enough (with already maxed out pusher thrust). we pervent this with
the first two adaptations, while the last one gives space for the
remaining nosedive.
fix this permanently by:
- ensuring the model makes sense definitely (pusher thrust, mass, aero
properties)
- noticing the failure faster
- adapting tecs so it doesn't nosedive?
- stop sending airspeed in sih
src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
is already doing that. in the sensor failure case (wrong), that implements
the failure, but the SIH one not, giving conflicting data. so switch
it off
- larger acceptance radius
quadx position mode is just not that accurate. is it a control/model
mismatch problem, or a simulation problem?
- wait longer for disarm in test_vtol_rtl
this would fail at large speed factors previously. timing bug or
acceptable small variation?
86 lines
3.7 KiB
C++
86 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* 1. Redistributions of source code must retain the above copyright
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* without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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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 "autopilot_tester.h"
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#include <chrono>
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static constexpr float acceptance_radius = 0.5f;
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TEST_CASE("Offboard takeoff and land", "[multicopter][offboard]")
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{
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AutopilotTester tester;
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Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
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tester.arm();
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std::chrono::seconds goto_timeout = std::chrono::seconds(90);
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tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
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tester.offboard_land();
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tester.wait_until_disarmed(std::chrono::seconds(120));
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tester.check_home_within(2.0f);
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}
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TEST_CASE("Offboard position control", "[multicopter][offboard]")
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{
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AutopilotTester tester;
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Offboard::PositionNedYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
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Offboard::PositionNedYaw setpoint_1 {0.0f, 5.0f, -2.0f, 180.0f};
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Offboard::PositionNedYaw setpoint_2 {5.0f, 5.0f, -4.0f, 180.0f};
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Offboard::PositionNedYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
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tester.connect(connection_url);
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tester.wait_until_ready();
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tester.store_home();
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tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
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tester.arm();
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std::chrono::seconds goto_timeout = std::chrono::seconds(10);
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tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
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tester.offboard_goto(setpoint_1, acceptance_radius, goto_timeout);
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tester.offboard_goto(setpoint_2, acceptance_radius, goto_timeout);
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tester.offboard_goto(setpoint_3, acceptance_radius, goto_timeout);
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tester.offboard_goto(takeoff_position, acceptance_radius, goto_timeout);
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tester.offboard_land();
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tester.wait_until_disarmed(std::chrono::seconds(120));
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tester.check_home_within(2.0f);
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}
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TEST_CASE("Offboard attitude control", "[multicopter][offboard_attitude]")
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{
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AutopilotTester tester;
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tester.connect(connection_url);
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tester.set_rc_loss_exception(AutopilotTester::RcLossException::Offboard);
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tester.fly_forward_in_offboard_attitude();
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tester.wait_until_disarmed(std::chrono::seconds(120));
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}
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