mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-08 04:30:35 +08:00
Matthias Grob
73 lines
2.5 KiB
C++
73 lines
2.5 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020 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 "SlewRate.hpp"
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TEST(SlewRateTest, SlewUpLimited)
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{
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SlewRate<float> _slew_rate;
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_slew_rate.setSlewRate(.1f);
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_slew_rate.setForcedValue(-5.5f);
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for (int i = 1; i <= 10; i++) {
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EXPECT_FLOAT_EQ(_slew_rate.update(20.f, .2f), -5.5f + i * .02f);
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}
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}
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TEST(SlewRateTest, SlewDownLimited)
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{
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SlewRate<float> _slew_rate;
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_slew_rate.setSlewRate(1.1f);
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_slew_rate.setForcedValue(17.3f);
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for (int i = 1; i <= 10; i++) {
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EXPECT_FLOAT_EQ(_slew_rate.update(-50.f, .3f), 17.3f - i * .33f);
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}
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}
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TEST(SlewRateTest, ReachValueSlewed)
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{
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SlewRate<float> _slew_rate;
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_slew_rate.setSlewRate(.2f);
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_slew_rate.setForcedValue(8.f);
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for (int i = 1; i <= 10; i++) {
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EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 8.f + i * .2f);
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}
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for (int i = 1; i <= 10; i++) {
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EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 10.f);
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}
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}
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