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tests add ctlmath and use float FLT_EPSILON

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This commit is contained in:
Daniel Agar
2018-04-09 01:47:22 -04:00
parent 367a18f735
commit 735c5544ae
2 changed files with 14 additions and 14 deletions
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1
platforms/posix/cmake/sitl_tests.cmake
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@@ -9,6 +9,7 @@ set(tests
commander
controllib
conv
ctlmath
dataman
file2
float

27
src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
View File

@@ -1,8 +1,7 @@
#include <unit_test.h>
#include "../Utility/ControlMath.hpp"
#include <mathlib/mathlib.h>
static const float EPS = 0.00000001f;
#include <cfloat>
class ControlMathTest : public UnitTest
{
@@ -29,20 +28,20 @@ bool ControlMathTest::testThrAttMapping()
matrix::Vector3f thr{0.0f, 0.0f, -1.0f};
float yaw = 0.0f;
vehicle_attitude_setpoint_s att = ControlMath::thrustToAttitude(thr, yaw);
ut_compare("", att.roll_body, EPS);
ut_assert_true(att.pitch_body < EPS);
ut_assert_true(att.yaw_body < EPS);
ut_assert_true(att.thrust - 1.0f < EPS);
ut_assert_true(att.roll_body < FLT_EPSILON);
ut_assert_true(att.pitch_body < FLT_EPSILON);
ut_assert_true(att.yaw_body < FLT_EPSILON);
ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
/* expected: same as before but with 90 yaw
* reason: only yaw changed
*/
yaw = M_PI_2_F;
att = ControlMath::thrustToAttitude(thr, yaw);
ut_assert_true(att.roll_body < EPS);
ut_assert_true(att.pitch_body < EPS);
ut_assert_true(att.yaw_body - M_PI_2_F < EPS);
ut_assert_true(att.thrust - 1.0f < EPS);
ut_assert_true(att.roll_body < FLT_EPSILON);
ut_assert_true(att.pitch_body < FLT_EPSILON);
ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON);
ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
/* expected: same as before but roll 180
* reason: thrust points straight down and order Euler
@@ -50,10 +49,10 @@ bool ControlMathTest::testThrAttMapping()
*/
thr = matrix::Vector3f(0.0f, 0.0f, 1.0f);
att = ControlMath::thrustToAttitude(thr, yaw);
ut_assert_true(fabsf(att.roll_body) - M_PI_F < EPS);
ut_assert_true(fabsf(att.pitch_body) < EPS);
ut_assert_true(att.yaw_body - M_PI_2_F < EPS);
ut_assert_true(att.thrust - 1.0f < EPS);
ut_assert_true(fabsf(att.roll_body) - M_PI_F < FLT_EPSILON);
ut_assert_true(fabsf(att.pitch_body) < FLT_EPSILON);
ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON);
ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
/* TODO: find a good way to test it */