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PositionControl: correct float initialization literals

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according to @bresch's review
This commit is contained in:
Matthias Grob
2019-11-18 14:04:56 +01:00
parent bd491c8511
commit 1bef35d843
2 changed files with 59 additions and 59 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+13 -13
View File
@@ -153,13 +153,13 @@ public:
* Set the integral term in xy to 0. * Set the integral term in xy to 0.
* @see _thr_int * @see _thr_int
*/ */
void resetIntegralXY() { _thr_int(0) = _thr_int(1) = 0.0f; } void resetIntegralXY() { _thr_int(0) = _thr_int(1) = 0.f; }
/** /**
* Set the integral term in z to 0. * Set the integral term in z to 0.
* @see _thr_int * @see _thr_int
*/ */
void resetIntegralZ() { _thr_int(2) = 0.0f; } void resetIntegralZ() { _thr_int(2) = 0.f; }
/** /**
* Get the * Get the
@@ -216,21 +216,21 @@ private:
matrix::Vector3f _gain_vel_d; ///< Velocity control derivative gain matrix::Vector3f _gain_vel_d; ///< Velocity control derivative gain
// Limits // Limits
float _lim_vel_horizontal{0}; ///< Horizontal velocity limit with feed forward and position control float _lim_vel_horizontal{}; ///< Horizontal velocity limit with feed forward and position control
float _lim_vel_up{0}; ///< Upwards velocity limit with feed forward and position control float _lim_vel_up{}; ///< Upwards velocity limit with feed forward and position control
float _lim_vel_down{0}; ///< Downwards velocity limit with feed forward and position control float _lim_vel_down{}; ///< Downwards velocity limit with feed forward and position control
float _lim_thr_min{0}; ///< Minimum collective thrust allowed as output [-1,0] e.g. -0.9 float _lim_thr_min{}; ///< Minimum collective thrust allowed as output [-1,0] e.g. -0.9
float _lim_thr_max{0}; ///< Maximum collective thrust allowed as output [-1,0] e.g. -0.1 float _lim_thr_max{}; ///< Maximum collective thrust allowed as output [-1,0] e.g. -0.1
float _lim_tilt{0}; ///< Maximum tilt from level the output attitude is allowed to have float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have
float _hover_thrust{0}; ///< Thrust [0,1] with which the vehicle hovers not aacelerating down or up with level orientation float _hover_thrust{}; ///< Thrust [0,1] with which the vehicle hovers not aacelerating down or up with level orientation
// States // States
matrix::Vector3f _pos; /**< position */ matrix::Vector3f _pos; /**< current position */
matrix::Vector3f _vel; /**< velocity */ matrix::Vector3f _vel; /**< current velocity */
matrix::Vector3f _vel_dot; /**< velocity derivative (replacement for acceleration estimate) */ matrix::Vector3f _vel_dot; /**< velocity derivative (replacement for acceleration estimate) */
matrix::Vector3f _thr_int; /**< integral term of the velocity controller */ matrix::Vector3f _thr_int; /**< integral term of the velocity controller */
float _yaw = 0.0f; /**< yaw */ float _yaw{}; /**< current heading */
vehicle_constraints_s _constraints{}; /**< variable constraints */ vehicle_constraints_s _constraints{}; /**< variable constraints */
@@ -239,7 +239,7 @@ private:
matrix::Vector3f _vel_sp; /**< desired velocity */ matrix::Vector3f _vel_sp; /**< desired velocity */
matrix::Vector3f _acc_sp; /**< desired acceleration */ matrix::Vector3f _acc_sp; /**< desired acceleration */
matrix::Vector3f _thr_sp; /**< desired thrust */ matrix::Vector3f _thr_sp; /**< desired thrust */
float _yaw_sp{}; /**< desired yaw */ float _yaw_sp{}; /**< desired heading */
float _yawspeed_sp{}; /** desired yaw-speed */ float _yawspeed_sp{}; /** desired yaw-speed */
bool _skip_controller{false}; /**< skips position/velocity controller. true for stabilized mode */ bool _skip_controller{false}; /**< skips position/velocity controller. true for stabilized mode */
src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+46 -46
View File
@@ -43,32 +43,32 @@ TEST(PositionControlTest, EmptySetpoint)
vehicle_local_position_setpoint_s output_setpoint{}; vehicle_local_position_setpoint_s output_setpoint{};
position_control.getLocalPositionSetpoint(output_setpoint); position_control.getLocalPositionSetpoint(output_setpoint);
EXPECT_EQ(output_setpoint.x, 0); EXPECT_EQ(output_setpoint.x, 0.f);
EXPECT_EQ(output_setpoint.y, 0); EXPECT_EQ(output_setpoint.y, 0.f);
EXPECT_EQ(output_setpoint.z, 0); EXPECT_EQ(output_setpoint.z, 0.f);
EXPECT_EQ(output_setpoint.yaw, 0); EXPECT_EQ(output_setpoint.yaw, 0.f);
EXPECT_EQ(output_setpoint.yawspeed, 0); EXPECT_EQ(output_setpoint.yawspeed, 0.f);
EXPECT_EQ(output_setpoint.vx, 0); EXPECT_EQ(output_setpoint.vx, 0.f);
EXPECT_EQ(output_setpoint.vy, 0); EXPECT_EQ(output_setpoint.vy, 0.f);
EXPECT_EQ(output_setpoint.vz, 0); EXPECT_EQ(output_setpoint.vz, 0.f);
EXPECT_EQ(Vector3f(output_setpoint.acceleration), Vector3f(0, 0, 0)); EXPECT_EQ(Vector3f(output_setpoint.acceleration), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(0, 0, 0)); EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(Vector3f(output_setpoint.thrust), Vector3f(0, 0, 0)); EXPECT_EQ(Vector3f(output_setpoint.thrust), Vector3f(0, 0, 0));
vehicle_attitude_setpoint_s attitude{}; vehicle_attitude_setpoint_s attitude{};
position_control.getAttitudeSetpoint(attitude); position_control.getAttitudeSetpoint(attitude);
EXPECT_EQ(attitude.roll_body, 0); EXPECT_EQ(attitude.roll_body, 0.f);
EXPECT_EQ(attitude.pitch_body, 0); EXPECT_EQ(attitude.pitch_body, 0.f);
EXPECT_EQ(attitude.yaw_body, 0); EXPECT_EQ(attitude.yaw_body, 0.f);
EXPECT_EQ(attitude.yaw_sp_move_rate, 0); EXPECT_EQ(attitude.yaw_sp_move_rate, 0.f);
EXPECT_EQ(Quatf(attitude.q_d), Quatf(1, 0, 0, 0)); EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f));
//EXPECT_EQ(attitude.q_d_valid, false); // TODO should not be true when there was no control //EXPECT_EQ(attitude.q_d_valid, false); // TODO should not be true when there was no control
EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0, 0, 0)); EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(attitude.roll_reset_integral, false); EXPECT_EQ(attitude.roll_reset_integral, false);
EXPECT_EQ(attitude.pitch_reset_integral, false); EXPECT_EQ(attitude.pitch_reset_integral, false);
EXPECT_EQ(attitude.yaw_reset_integral, false); EXPECT_EQ(attitude.yaw_reset_integral, false);
EXPECT_EQ(attitude.fw_control_yaw, false); EXPECT_EQ(attitude.fw_control_yaw, false);
EXPECT_EQ(attitude.apply_flaps, 0);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference? EXPECT_EQ(attitude.apply_flaps, 0.f);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
} }
class PositionControlBasicTest : public ::testing::Test class PositionControlBasicTest : public ::testing::Test
@@ -76,11 +76,11 @@ class PositionControlBasicTest : public ::testing::Test
public: public:
PositionControlBasicTest() PositionControlBasicTest()
{ {
_position_control.setPositionGains(Vector3f(1, 1, 1)); _position_control.setPositionGains(Vector3f(1.f, 1.f, 1.f));
_position_control.setVelocityGains(Vector3f(1, 1, 1), Vector3f(1, 1, 1), Vector3f(1, 1, 1)); _position_control.setVelocityGains(Vector3f(1.f, 1.f, 1.f), Vector3f(1.f, 1.f, 1.f), Vector3f(1.f, 1.f, 1.f));
_position_control.setVelocityLimits(1, 1, 1); _position_control.setVelocityLimits(1.f, 1.f, 1.f);
_position_control.setThrustLimits(0.1f, 0.9f); _position_control.setThrustLimits(0.1f, 0.9f);
_position_control.setTiltLimit(1); _position_control.setTiltLimit(1.f);
_position_control.setHoverThrust(.5f); _position_control.setHoverThrust(.5f);
_contraints.tilt = 1.f; _contraints.tilt = 1.f;
@@ -122,14 +122,14 @@ public:
void checkDirection() void checkDirection()
{ {
Vector3f thrust(_output_setpoint.thrust); Vector3f thrust(_output_setpoint.thrust);
EXPECT_GT(thrust(0), 0); EXPECT_GT(thrust(0), 0.f);
EXPECT_GT(thrust(1), 0); EXPECT_GT(thrust(1), 0.f);
EXPECT_LT(thrust(2), 0); EXPECT_LT(thrust(2), 0.f);
Vector3f body_z = Quatf(_attitude.q_d).dcm_z(); Vector3f body_z = Quatf(_attitude.q_d).dcm_z();
EXPECT_LT(body_z(0), 0); EXPECT_LT(body_z(0), 0.f);
EXPECT_LT(body_z(1), 0); EXPECT_LT(body_z(1), 0.f);
EXPECT_GT(body_z(2), 0); EXPECT_GT(body_z(2), 0.f);
} }
}; };
@@ -153,41 +153,41 @@ TEST_F(PositionControlBasicDirectionTest, VelocityControlDirection)
TEST_F(PositionControlBasicTest, PositionControlMaxTilt) TEST_F(PositionControlBasicTest, PositionControlMaxTilt)
{ {
_input_setpoint.x = 10; _input_setpoint.x = 10.f;
_input_setpoint.y = 10; _input_setpoint.y = 10.f;
_input_setpoint.z = -0; _input_setpoint.z = -0.f;
runController(); runController();
Vector3f body_z = Quatf(_attitude.q_d).dcm_z(); Vector3f body_z = Quatf(_attitude.q_d).dcm_z();
float angle = acosf(body_z.dot(Vector3f(0, 0, 1))); float angle = acosf(body_z.dot(Vector3f(0.f, 0.f, 1.f)));
EXPECT_GT(angle, 0.f); EXPECT_GT(angle, 0.f);
EXPECT_LE(angle, 1.f); EXPECT_LE(angle, 1.f);
_contraints.tilt = .5f; _contraints.tilt = .5f;
runController(); runController();
body_z = Quatf(_attitude.q_d).dcm_z(); body_z = Quatf(_attitude.q_d).dcm_z();
angle = acosf(body_z.dot(Vector3f(0, 0, 1))); angle = acosf(body_z.dot(Vector3f(0.f, 0.f, 1.f)));
EXPECT_GT(angle, 0.f); EXPECT_GT(angle, 0.f);
EXPECT_LE(angle, .50001f); EXPECT_LE(angle, .50001f);
} }
TEST_F(PositionControlBasicTest, PositionControlMaxVelocity) TEST_F(PositionControlBasicTest, PositionControlMaxVelocity)
{ {
_input_setpoint.x = 10; _input_setpoint.x = 10.f;
_input_setpoint.y = 10; _input_setpoint.y = 10.f;
_input_setpoint.z = -10; _input_setpoint.z = -10.f;
runController(); runController();
Vector2f velocity_xy(_output_setpoint.vx, _output_setpoint.vy); Vector2f velocity_xy(_output_setpoint.vx, _output_setpoint.vy);
EXPECT_LE(velocity_xy.norm(), 1); EXPECT_LE(velocity_xy.norm(), 1.f);
EXPECT_LE(abs(_output_setpoint.vz), 1); EXPECT_LE(abs(_output_setpoint.vz), 1.f);
} }
TEST_F(PositionControlBasicTest, PositionControlThrustLimit) TEST_F(PositionControlBasicTest, PositionControlThrustLimit)
{ {
_input_setpoint.x = 10; _input_setpoint.x = 10.f;
_input_setpoint.y = 10; _input_setpoint.y = 10.f;
_input_setpoint.z = -10; _input_setpoint.z = -10.f;
runController(); runController();
EXPECT_EQ(_attitude.thrust_body[0], 0.f); EXPECT_EQ(_attitude.thrust_body[0], 0.f);
@@ -198,14 +198,14 @@ TEST_F(PositionControlBasicTest, PositionControlThrustLimit)
TEST_F(PositionControlBasicTest, PositionControlFailsafeInput) TEST_F(PositionControlBasicTest, PositionControlFailsafeInput)
{ {
_input_setpoint.vz = 0.7f; _input_setpoint.vz = .7f;
_input_setpoint.acceleration[0] = _input_setpoint.acceleration[1] = 0.0f; _input_setpoint.acceleration[0] = _input_setpoint.acceleration[1] = 0.f;
runController(); runController();
EXPECT_EQ(_attitude.thrust_body[0], 0.f); EXPECT_EQ(_attitude.thrust_body[0], 0.f);
EXPECT_EQ(_attitude.thrust_body[1], 0.f); EXPECT_EQ(_attitude.thrust_body[1], 0.f);
EXPECT_LT(_output_setpoint.thrust[2], -0.1f); EXPECT_LT(_output_setpoint.thrust[2], -.1f);
EXPECT_GT(_output_setpoint.thrust[2], -0.5f); EXPECT_GT(_output_setpoint.thrust[2], -.5f);
EXPECT_GT(_attitude.thrust_body[2], -0.5f); EXPECT_GT(_attitude.thrust_body[2], -.5f);
EXPECT_LE(_attitude.thrust_body[2], -0.1f); EXPECT_LE(_attitude.thrust_body[2], -.1f);
} }