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test(tecs): factor out and decrease numerical tolerance

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This commit is contained in:
Balduin
2026-04-24 10:25:48 +02:00
parent 78bb707dab
commit 5bf3625a74
1 changed files with 15 additions and 9 deletions
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src/lib/tecs/TECSClosedLoopTest.cpp
+15 -9
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@@ -90,6 +90,9 @@ static constexpr float STE_RATE_MIN_ABS = MIN_SINK_RATE * G;
static constexpr float MAX_V_TRACKING_ERR = 0.1; ///< [m/s]
/// Tolerance for checking equations that should hold exactly
static constexpr float NUMERICAL_TOL = 1e-12;
// --- Aircraft model -----------------------------------------------------------
// pitch_cmd drives altitude rate instantly; all pitch-rate limiting comes from
// TECS's vert_accel_limit. STE uses the same piecewise-linear throttle-to-energy
@@ -321,10 +324,11 @@ TEST_F(TECSClosedLoopTest, SteadyStateCruiseDefaultTuning)
initTecs();
run(60.f);
EXPECT_LT(_sim_stats.max_airspeed_error, 1e-5f);
EXPECT_NEAR(_state.V, _V_sp, 1e-5f);
EXPECT_NEAR(_state.h, _alt_sp, 1e-5f);
EXPECT_LT(_sim_stats.max_airspeed_error, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_altitude_error, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_throttle_integ_norm, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_pitch_integ_norm, NUMERICAL_TOL);
}
TEST_F(TECSClosedLoopTest, SteadyStateCruiseHighSpeedWeight)
@@ -337,10 +341,11 @@ TEST_F(TECSClosedLoopTest, SteadyStateCruiseHighSpeedWeight)
initTecs();
run(60.f);
EXPECT_LT(_sim_stats.max_airspeed_error, 1e-5f);
EXPECT_NEAR(_state.V, _V_sp, 1e-5f);
EXPECT_NEAR(_state.h, _alt_sp, 1e-5f);
EXPECT_LT(_sim_stats.max_airspeed_error, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_altitude_error, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_throttle_integ_norm, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_pitch_integ_norm, NUMERICAL_TOL);
}
TEST_F(TECSClosedLoopTest, SteadyStateCruiseLowSpeedWeight)
@@ -353,10 +358,11 @@ TEST_F(TECSClosedLoopTest, SteadyStateCruiseLowSpeedWeight)
initTecs();
run(60.f);
EXPECT_LT(_sim_stats.max_airspeed_error, 1e-5f);
EXPECT_NEAR(_state.V, _V_sp, 1e-5f);
EXPECT_NEAR(_state.h, _alt_sp, 1e-5f);
EXPECT_LT(_sim_stats.max_airspeed_error, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_altitude_error, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_throttle_integ_norm, NUMERICAL_TOL);
EXPECT_LT(_sim_stats.max_pitch_integ_norm, NUMERICAL_TOL);
}
// --- Altitude steps, default tuning (FW_T_SPDWEIGHT = 1.0) -------------------