Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 10:46:33 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

test_controlmath: replace FLT_EPSILON with 10^-6

Browse Source
This commit is contained in:
Dennis Mannhart
2018-08-15 13:54:32 +02:00
committed by Dennis Mannhart
parent 888d85008b
commit d94778dd94
1 changed files with 21 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/systemcmds/tests/test_controlmath.cpp
+21 -19
View File
@@ -3,6 +3,8 @@
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <cfloat> #include <cfloat>
#define SIGMA_SINGLE_OP 0.000001f
class ControlMathTest : public UnitTest class ControlMathTest : public UnitTest
{ {
public: public:
@@ -32,20 +34,20 @@ bool ControlMathTest::testThrAttMapping()
matrix::Vector3f thr{0.0f, 0.0f, -1.0f}; matrix::Vector3f thr{0.0f, 0.0f, -1.0f};
float yaw = 0.0f; float yaw = 0.0f;
vehicle_attitude_setpoint_s att = ControlMath::thrustToAttitude(thr, yaw); vehicle_attitude_setpoint_s att = ControlMath::thrustToAttitude(thr, yaw);
ut_assert_true(att.roll_body < FLT_EPSILON); ut_assert_true(att.roll_body < SIGMA_SINGLE_OP);
ut_assert_true(att.pitch_body < FLT_EPSILON); ut_assert_true(att.pitch_body < SIGMA_SINGLE_OP);
ut_assert_true(att.yaw_body < FLT_EPSILON); ut_assert_true(att.yaw_body < SIGMA_SINGLE_OP);
ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
/* expected: same as before but with 90 yaw /* expected: same as before but with 90 yaw
* reason: only yaw changed * reason: only yaw changed
*/ */
yaw = M_PI_2_F; yaw = M_PI_2_F;
att = ControlMath::thrustToAttitude(thr, yaw); att = ControlMath::thrustToAttitude(thr, yaw);
ut_assert_true(att.roll_body < FLT_EPSILON); ut_assert_true(att.roll_body < SIGMA_SINGLE_OP);
ut_assert_true(att.pitch_body < FLT_EPSILON); ut_assert_true(att.pitch_body < SIGMA_SINGLE_OP);
ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON); ut_assert_true(att.yaw_body - M_PI_2_F < SIGMA_SINGLE_OP);
ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
/* expected: same as before but roll 180 /* expected: same as before but roll 180
* reason: thrust points straight down and order Euler * reason: thrust points straight down and order Euler
@@ -53,10 +55,10 @@ bool ControlMathTest::testThrAttMapping()
*/ */
thr = matrix::Vector3f(0.0f, 0.0f, 1.0f); thr = matrix::Vector3f(0.0f, 0.0f, 1.0f);
att = ControlMath::thrustToAttitude(thr, yaw); att = ControlMath::thrustToAttitude(thr, yaw);
ut_assert_true(fabsf(att.roll_body) - M_PI_F < FLT_EPSILON); ut_assert_true(fabsf(att.roll_body) - M_PI_F < SIGMA_SINGLE_OP);
ut_assert_true(fabsf(att.pitch_body) < FLT_EPSILON); ut_assert_true(fabsf(att.pitch_body) < SIGMA_SINGLE_OP);
ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON); ut_assert_true(att.yaw_body - M_PI_2_F < SIGMA_SINGLE_OP);
ut_assert_true(att.thrust - 1.0f < FLT_EPSILON); ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
/* TODO: find a good way to test it */ /* TODO: find a good way to test it */
@@ -75,29 +77,29 @@ bool ControlMathTest::testPrioritizeVector()
// the static keywork is a workaround for an internal bug of GCC // the static keywork is a workaround for an internal bug of GCC
// "internal compiler error: in trunc_int_for_mode, at explow.c:55" // "internal compiler error: in trunc_int_for_mode, at explow.c:55"
matrix::Vector2f v_r = ControlMath::constrainXY(v0, v1, max); matrix::Vector2f v_r = ControlMath::constrainXY(v0, v1, max);
ut_assert_true(fabsf(v_r(0)) - max < FLT_EPSILON && v_r(0) > 0.0f); ut_assert_true(fabsf(v_r(0)) - max < SIGMA_SINGLE_OP && v_r(0) > 0.0f);
ut_assert_true(fabsf(v_r(1) - 0.0f) < FLT_EPSILON); ut_assert_true(fabsf(v_r(1) - 0.0f) < SIGMA_SINGLE_OP);
// v1 exceeds max but v0 is zero // v1 exceeds max but v0 is zero
v0.zero(); v0.zero();
v_r = ControlMath::constrainXY(v0, v1, max); v_r = ControlMath::constrainXY(v0, v1, max);
ut_assert_true(fabsf(v_r(1)) - max < FLT_EPSILON && v_r(1) < 0.0f); ut_assert_true(fabsf(v_r(1)) - max < SIGMA_SINGLE_OP && v_r(1) < 0.0f);
ut_assert_true(fabsf(v_r(0) - 0.0f) < FLT_EPSILON); ut_assert_true(fabsf(v_r(0) - 0.0f) < SIGMA_SINGLE_OP);
// v0 and v1 are below max // v0 and v1 are below max
v0 = matrix::Vector2f(0.5f, 0.5f); v0 = matrix::Vector2f(0.5f, 0.5f);
v1(0) = v0(1); v1(1) = -v0(0); v1(0) = v0(1); v1(1) = -v0(0);
v_r = ControlMath::constrainXY(v0, v1, max); v_r = ControlMath::constrainXY(v0, v1, max);
float diff = matrix::Vector2f(v_r - (v0 + v1)).length(); float diff = matrix::Vector2f(v_r - (v0 + v1)).length();
ut_assert_true(diff < FLT_EPSILON); ut_assert_true(diff < SIGMA_SINGLE_OP);
// v0 and v1 exceed max and are perpendicular // v0 and v1 exceed max and are perpendicular
v0 = matrix::Vector2f(4.0f, 0.0f); v0 = matrix::Vector2f(4.0f, 0.0f);
v1 = matrix::Vector2f(0.0f, -4.0f); v1 = matrix::Vector2f(0.0f, -4.0f);
v_r = ControlMath::constrainXY(v0, v1, max); v_r = ControlMath::constrainXY(v0, v1, max);
ut_assert_true(v_r(0) - v0(0) < FLT_EPSILON && v_r(0) > 0.0f); ut_assert_true(v_r(0) - v0(0) < SIGMA_SINGLE_OP && v_r(0) > 0.0f);
float remaining = sqrtf(max * max - (v0(0) * v0(0))); float remaining = sqrtf(max * max - (v0(0) * v0(0)));
ut_assert_true(fabsf(v_r(1)) - remaining < FLT_EPSILON && v_r(1) < FLT_EPSILON); ut_assert_true(fabsf(v_r(1)) - remaining < SIGMA_SINGLE_OP && v_r(1) < SIGMA_SINGLE_OP);
//TODO: add more tests with vectors not perpendicular //TODO: add more tests with vectors not perpendicular