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Test updates for new GPS fly-by

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This commit is contained in:
James Turner 2020-05-30 15:56:08 +01:00
parent eb55cd4a8c
commit 176ccfa8dc
2 changed files with 171 additions and 9 deletions
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174
test_suite/unit_tests/Instrumentation/test_gps.cxx
View file

@ -25,6 +25,7 @@
#include "test_suite/FGTestApi/testGlobals.hxx"
#include "test_suite/FGTestApi/NavDataCache.hxx"
#include "test_suite/FGTestApi/TestPilot.hxx"
#include "test_suite/FGTestApi/TestDataLogger.hxx"
#include <Navaids/NavDataCache.hxx>
#include <Navaids/navrecord.hxx>
@ -1091,7 +1092,7 @@ void GPSTests::testOffsetFlight()
void GPSTests::testLegIntercept()
{
// FGTestApi::setUp::logPositionToKML("gps_intercept");
FGTestApi::setUp::logPositionToKML("gps_intercept");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
@ -1099,7 +1100,14 @@ void GPSTests::testLegIntercept()
FGTestApi::setUp::populateFPWithoutNasal(fp, "NZCH", "02", "NZAA", "05L",
"ALADA NS WB WN MAMOD KAPTI OH");
// FGTestApi::writeFlightPlanToKML(fp);
// auto dl = FGTestApi::DataLogger::instance();
// dl->initTest("gps_leg_intercept");
// dl->recordProperty("gps-error-nm", globals->get_props()->getNode("instrumentation/gps/wp/wp[1]/course-error-nm", true));
// dl->recordProperty("gps-dev-deg", globals->get_props()->getNode("instrumentation/gps/wp/wp[1]/course-deviation-deg", true));
// dl->recordProperty("hdg", globals->get_props()-> getNode("orientation/heading-deg", true));
// dl->recordProperty("leg-track", globals->get_props()->getNode("instrumentation/gps/wp/leg-true-course-deg", true));
FGTestApi::writeFlightPlanToKML(fp);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
@ -1110,6 +1118,7 @@ void GPSTests::testLegIntercept()
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setBoolValue("config/enable-fly-by", true);
gpsNode->setStringValue("command", "leg");
@ -1209,15 +1218,167 @@ void GPSTests::testLegIntercept()
// check we manage the punishing turn back onto track
FGTestApi::runForTime(180.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
// similar, but onthe other side, so closer aligned to the exit course at nelson.
// this should do a fly-by
pos = fp->pointAlongRoute(2, -4.0);
pos = SGGeodesy::direct(pos, 1, 10.0 * SG_NM_TO_METER);
fp->setCurrentIndex(2);
// cycle the GPS mode to re-do the intercept logic
FGTestApi::setPositionAndStabilise(pos);
gpsNode->setStringValue("command", "obs");
gpsNode->setStringValue("command", "leg");
pilot->resetAtPosition(pos);
pilot->setCourseTrue(320.0); // awkward course
pilot->setSpeedKts(300);
pilot->flyGPSCourse(gps);
const double crsToNS2 = SGGeodesy::courseDeg(globals->get_aircraft_position(), nelsonVORPos);
const double crsFromStart2 = SGGeodesy::courseDeg(pos, nelsonVORPos);
// we should be established on a direct to, from our start pos, let's check
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsToNS2, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsFromStart2, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
// run until we sequence, which should happen as normal
ok = FGTestApi::runForTimeWithCheck(6000.0, [fp] () {
if (fp->currentIndex() == 3) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
// check we are on course the whole way through
FGTestApi::runForTime(10);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
}
void GPSTests::testTurnAnticipation()
{
FGTestApi::setUp::logPositionToKML("gps_flyby_sequence");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
// this route has some deliberately sharp turns to work the turn code
FGTestApi::setUp::populateFPWithoutNasal(fp, "LEMG", "30", "EIDW", "28",
"BLN VTB TLD DELOG IDRIK ARE KOFAL STU VATRY");
// auto dl = FGTestApi::DataLogger::instance();
// dl->initTest("gps_flyby_sequence");
// dl->recordProperty("gps-error-nm", globals->get_props()->getNode("instrumentation/gps/wp/wp[1]/course-error-nm", true));
// dl->recordProperty("gps-dev-deg", globals->get_props()->getNode("instrumentation/gps/wp/wp[1]/course-deviation-deg", true));
// dl->recordProperty("hdg", globals->get_props()-> getNode("orientation/heading-deg", true));
// dl->recordProperty("leg-track", globals->get_props()->getNode("instrumentation/gps/wp/leg-true-course-deg", true));
FGTestApi::writeFlightPlanToKML(fp);
// takes the place of the Nasal delegates
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
CPPUNIT_ASSERT(rm->activate());
fp->addDelegate(testDelegate);
auto gps = setupStandardGPS();
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setBoolValue("config/enable-fly-by", true);
gpsNode->setStringValue("command", "leg");
// enroute to VILLATOBAS VOR
fp->setCurrentIndex(2);
SGGeod pos = fp->pointAlongRoute(2, -5.0);
FGTestApi::setPositionAndStabilise(pos);
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
pilot->resetAtPosition(pos);
pilot->setSpeedKts(300); // decent speed to make things tougher
pilot->flyGPSCourse(gps);
bool ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 3) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
// check we sequenced at the half way point
auto vtbVOR = fp->legAtIndex(2)->waypoint()->source();
CPPUNIT_ASSERT_EQUAL(std::string{"VILLATOBAS VOR-DME"}, vtbVOR->name());
const double courseToVTB = SGGeodesy::courseDeg(globals->get_aircraft_position(), vtbVOR->geod());
// course should be half-way between the inbound and outbound leg courses, and then offset
// let's see
double ht = (fp->legAtIndex(3)->courseDeg() - fp->legAtIndex(2)->courseDeg());
SG_NORMALIZE_RANGE(ht, -180.0, 180.0);
ht *= 0.5;
ht += fp->legAtIndex(2)->courseDeg();
ht += 90;
SG_NORMALIZE_RANGE(ht, 0.0, 360.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(ht, courseToVTB, 5.0);
FGTestApi::runForTime(30.0);
// check we're on course to TOLEDO
auto toledoVOR = fp->legAtIndex(3)->waypoint()->source();
// const double crsToWB = SGGeodesy::courseDeg(globals->get_aircraft_position(), woodbourneVOR->geod());
// const double crsNSWB = SGGeodesy::courseDeg(nelsonVOR->geod(), woodbourneVOR->geod());
// CPPUNIT_ASSERT_DOUBLES_EQUAL(crsToWB, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
// CPPUNIT_ASSERT_DOUBLES_EQUAL(crsNSWB, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
// check a right-hand turn
pos = fp->pointAlongRoute(3, -5.0);
FGTestApi::setPositionAndStabilise(pos);
pilot->resetAtPosition(pos);
ok = FGTestApi::runForTimeWithCheck(180.0, [fp] () {
if (fp->currentIndex() == 4) {
return true;
}
return false;
});
CPPUNIT_ASSERT(ok);
const double courseToTLD = SGGeodesy::courseDeg(globals->get_aircraft_position(), toledoVOR->geod());
// course should be half-way between the inbound and outbound leg courses, and then offset
// let's see
ht = (fp->legAtIndex(4)->courseDeg() - fp->legAtIndex(3)->courseDeg());
SG_NORMALIZE_RANGE(ht, -180.0, 180.0);
ht *= 0.5;
ht += fp->legAtIndex(3)->courseDeg();
ht -= 90; // right hand turn
SG_NORMALIZE_RANGE(ht, 0.0, 360.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToTLD, ht, 5.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
FGTestApi::runForTime(30.0);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
}
void GPSTests::testRadialIntercept()
{
// FGTestApi::setUp::logPositionToKML("gps_radial_intercept");
FGTestApi::setUp::logPositionToKML("gps_radial_intercept");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
@ -1236,7 +1397,7 @@ void GPSTests::testRadialIntercept()
auto intc = new RadialIntercept(fp, "INTC", pos, 230, 5);
fp->insertWayptAtIndex(intc, 3);
//FGTestApi::writeFlightPlanToKML(fp);
FGTestApi::writeFlightPlanToKML(fp);
// position slightly before BUNAX
SGGeod initPos = fp->pointAlongRoute(2, -3.0);
@ -1280,7 +1441,7 @@ void GPSTests::testRadialIntercept()
void GPSTests::testDMEIntercept()
{
//FGTestApi::setUp::logPositionToKML("gps_dme_intercept");
FGTestApi::setUp::logPositionToKML("gps_dme_intercept");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
@ -1307,7 +1468,7 @@ void GPSTests::testDMEIntercept()
// and another one
fp->insertWayptAtIndex(new BasicWaypt(SGGeod::fromDeg(-3.690845, 55.841378), "CI06", fp), 7);
// FGTestApi::writeFlightPlanToKML(fp);
FGTestApi::writeFlightPlanToKML(fp);
// position slightly before TLA
SGGeod initPos = fp->pointAlongRoute(2, -2.0);
@ -1323,6 +1484,7 @@ void GPSTests::testDMEIntercept()
auto gpsNode = globals->get_props()->getNode("instrumentation/gps");
gpsNode->setBoolValue("config/delegate-sequencing", true);
gpsNode->setBoolValue("config/enable-fly-by", true);
gpsNode->setStringValue("command", "leg");
fp->setCurrentIndex(2);

6
test_suite/unit_tests/Instrumentation/test_hold_controller.cxx
View file

@ -238,14 +238,14 @@ void HoldControllerTests::testHoldEntryDirect()
void HoldControllerTests::testHoldEntryTeardrop()
{
// FGTestApi::setUp::logPositionToKML("hold_teardrop_entry");
FGTestApi::setUp::logPositionToKML("hold_teardrop_entry");
auto rm = globals->get_subsystem<FGRouteMgr>();
auto fp = new FlightPlan;
rm->setFlightPlan(fp);
FGTestApi::setUp::populateFPWithoutNasal(fp, "EBBR", "07L", "EGGD", "27",
"NIK COA DVR TAWNY WOD");
// FGTestApi::writeFlightPlanToKML(fp);
FGTestApi::writeFlightPlanToKML(fp);
auto testDelegate = new TestFPDelegate;
testDelegate->thePlan = fp;
@ -291,7 +291,7 @@ void HoldControllerTests::testHoldEntryTeardrop()
CPPUNIT_ASSERT_EQUAL(std::string{"DVR"}, std::string{m_gpsNode->getStringValue("wp/wp[1]/ID")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(crsToDover, m_gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(legCrs, m_gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, m_gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.05);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, m_gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.0, m_gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);