Takeoff: add proper unit test

PX4 · Dec 18, 2019 · ab44733 · ab44733
1 parent 42dbddb
commit ab44733
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Showing 3 changed files with 41 additions and 14 deletions.
diff --git a/src/modules/mc_pos_control/Takeoff/CMakeLists.txt b/src/modules/mc_pos_control/Takeoff/CMakeLists.txt
@@ -34,9 +34,7 @@
 px4_add_library(Takeoff
 	Takeoff.cpp
 )
-target_include_directories(Takeoff
-	PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(Takeoff PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(Takeoff PUBLIC hysteresis)
 
 px4_add_unit_gtest(SRC TakeoffTest.cpp LINKLIBS Takeoff)
diff --git a/src/modules/mc_pos_control/Takeoff/Takeoff.hpp b/src/modules/mc_pos_control/Takeoff/Takeoff.hpp
@@ -59,8 +59,8 @@ class Takeoff
 	~Takeoff() = default;
 
 	// initialize parameters
-	void setTakeoffRampTime(const float seconds) { _takeoff_ramp_time = seconds; }
 	void setSpoolupTime(const float seconds) { _spoolup_time_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(seconds * (float)1_s)); }
+	void setTakeoffRampTime(const float seconds) { _takeoff_ramp_time = seconds; }
 
 	/**
 	 * Calculate a vertical velocity to initialize the takeoff ramp
@@ -93,9 +93,9 @@ class Takeoff
 private:
 	TakeoffState _takeoff_state = TakeoffState::disarmed;
 
+	systemlib::Hysteresis _spoolup_time_hysteresis{false}; /**< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed */
+
 	float _takeoff_ramp_time = 0.f;
 	float _takeoff_ramp_vz_init = 0.f;
 	float _takeoff_ramp_vz = 0.f;
-
-	systemlib::Hysteresis _spoolup_time_hysteresis{false}; /**< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed */
 };
diff --git a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp
@@ -33,17 +33,46 @@
 
 #include <gtest/gtest.h>
 #include <Takeoff.hpp>
+#include <drivers/drv_hrt.h>
 
 TEST(TakeoffTest, Initialization)
 {
 	Takeoff takeoff;
 	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::disarmed);
 }
 
-// TEST(TakeoffTest, Ramp)
-// {
-// 	Takeoff takeoff;
-// 	takeoff.updateTakeoffState(true, false, true, 1.f, false);
-// 	takeoff.updateThrustRamp(1.f, 0.1f);
-// 	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::disarmed);
-// }
+TEST(TakeoffTest, RegularTakeoffRamp)
+{
+	Takeoff takeoff;
+	takeoff.setSpoolupTime(1.f);
+	takeoff.setTakeoffRampTime(2.0);
+	takeoff.generateInitialRampValue(.5f, 1.f);
+
+	// disarmed, landed, don't want takeoff
+	takeoff.updateTakeoffState(false, true, false, 1.f, false, 0);
+	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::disarmed);
+
+	// armed, not landed anymore, don't want takeoff
+	takeoff.updateTakeoffState(true, false, false, 1.f, false, 500_ms);
+	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::spoolup);
+
+	// armed, not landed, don't want takeoff yet, spoolup time passed
+	takeoff.updateTakeoffState(true, false, false, 1.f, false, 2_s);
+	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::ready_for_takeoff);
+
+	// armed, not landed, want takeoff
+	takeoff.updateTakeoffState(true, false, true, 1.f, false, 3_s);
+	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::rampup);
+
+	// armed, not landed, want takeoff, ramping up
+	takeoff.updateTakeoffState(true, false, true, 1.f, false, 4_s);
+	EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), 0.f);
+	EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), .5f);
+	EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.f);
+	EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.5f);
+	EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.5f);
+
+	// armed, not landed, want takeoff, rampup time passed
+	takeoff.updateTakeoffState(true, false, true, 1.f, false, 6500_ms);
+	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::flight);
+}