fly/flightgear
1
0
Fork 0
Code Activity

GPS tests

Browse source
This commit is contained in:
James Turner 2019-09-18 16:12:18 +01:00
parent 1c58de62ed
commit a2e9374c54
1 changed files with 50 additions and 16 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

66
test_suite/unit_tests/Instrumentation/test_gps.cxx
View file

@ -230,8 +230,7 @@ void GPSTests::testDirectTo()
CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("scratch/valid")); CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("scratch/valid"));
gpsNode->setStringValue("command", "direct"); gpsNode->setStringValue("command", "direct");
setPositionAndStabilise(gps, p1);
CPPUNIT_ASSERT_EQUAL(std::string{"dto"}, std::string{gpsNode->getStringValue("mode")}); CPPUNIT_ASSERT_EQUAL(std::string{"dto"}, std::string{gpsNode->getStringValue("mode")});
CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLongitudeDeg(), gpsNode->getDoubleValue("wp/wp[0]/longitude-deg"), 0.01); CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLongitudeDeg(), gpsNode->getDoubleValue("wp/wp[0]/longitude-deg"), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLatitudeDeg(), gpsNode->getDoubleValue("wp/wp[0]/latitude-deg"), 0.01); CPPUNIT_ASSERT_DOUBLES_EQUAL(p1.getLatitudeDeg(), gpsNode->getDoubleValue("wp/wp[0]/latitude-deg"), 0.01);
@ -254,11 +253,11 @@ void GPSTests::testDirectTo()
SGGeod p3 = SGGeodesy::direct(p1, 210, 6.0 * SG_NM_TO_METER); SGGeod p3 = SGGeodesy::direct(p1, 210, 6.0 * SG_NM_TO_METER);
SGGeod xtk = SGGeodesy::direct(p3, 120, 0.8 * SG_NM_TO_METER); SGGeod xtk = SGGeodesy::direct(p3, 120, 0.8 * SG_NM_TO_METER);
setPositionAndStabilise(gps, xtk); setPositionAndStabilise(gps, xtk);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.8, gpsNode->getDoubleValue("wp/wp[1]/ourse-error-nm"), 0.1); CPPUNIT_ASSERT_DOUBLES_EQUAL(-0.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
SGGeod xtk2 = SGGeodesy::direct(p3, 120, -1.8 * SG_NM_TO_METER); SGGeod xtk2 = SGGeodesy::direct(p3, 120, -1.8 * SG_NM_TO_METER);
setPositionAndStabilise(gps, xtk2); setPositionAndStabilise(gps, xtk2);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-1.8, gpsNode->getDoubleValue("wp/wp[1]/ourse-error-nm"), 0.1); CPPUNIT_ASSERT_DOUBLES_EQUAL(1.8, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
} }
void GPSTests::testNavRadioSlave() void GPSTests::testNavRadioSlave()
@ -276,7 +275,7 @@ void GPSTests::testLegMode()
auto fp = new FlightPlan; auto fp = new FlightPlan;
rm->setFlightPlan(fp); rm->setFlightPlan(fp);
FGTestApi::setUp::populateFP(fp, "EBBR", "07L", "EGGD", "27", FGTestApi::setUp::populateFPWithoutNasal(fp, "EBBR", "07L", "EGGD", "27",
"NIK COA DVR TAWNY WOD"); "NIK COA DVR TAWNY WOD");
// takes the place of the Nasal delegates // takes the place of the Nasal delegates
@ -352,32 +351,67 @@ void GPSTests::testLegMode()
// check course deviation / cross-track error // check course deviation / cross-track error
SGGeod doverPos = fp->currentLeg()->waypoint()->position(); SGGeod doverPos = fp->currentLeg()->waypoint()->position();
double course = SGGeodesy::courseDeg(coaPos, doverPos); double course = SGGeodesy::courseDeg(coaPos, doverPos);
double revCourse = SGGeodesy::courseDeg(doverPos, coaPos);
setPositionAndStabilise(gps, coaPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(course, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5); CPPUNIT_ASSERT_DOUBLES_EQUAL(course, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.5);
SGGeod off1 = SGGeodesy::direct(coaPos, course + 5.0, 8 * SG_NM_TO_METER); SGGeod off1 = SGGeodesy::direct(doverPos, revCourse - 5.0, 16 * SG_NM_TO_METER);
setPositionAndStabilise(gps, off1); setPositionAndStabilise(gps, off1);
double courseToDover = SGGeodesy::courseDeg(off1, doverPos); double courseToDover = SGGeodesy::courseDeg(off1, doverPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5); CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
// right of the desired course, negative sign, ho hum // left of the desired course, negative sign
CPPUNIT_ASSERT_DOUBLES_EQUAL(-5.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5); CPPUNIT_ASSERT_DOUBLES_EQUAL(5.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("wp/wp[1]/to-flag")); CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("wp/wp[1]/to-flag"));
CPPUNIT_ASSERT_EQUAL(false, gpsNode->getBoolValue("wp/wp[1]/from-flag")); CPPUNIT_ASSERT_EQUAL(false, gpsNode->getBoolValue("wp/wp[1]/from-flag"));
SGGeod off2 = SGGeodesy::direct(doverPos, course - 5.0, -18 * SG_NM_TO_METER); SGGeod off2 = SGGeodesy::direct(doverPos, revCourse + 8.0, 40 * SG_NM_TO_METER);
setPositionAndStabilise(gps, off2); setPositionAndStabilise(gps, off2);
courseToDover = SGGeodesy::courseDeg(off2, doverPos); courseToDover = SGGeodesy::courseDeg(off2, doverPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5); CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
// disabled becuase GPS course deviation is using from the FROM wp, when CPPUNIT_ASSERT_DOUBLES_EQUAL(-8.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
// it should be using the TO point (DVR in this case)
#if 0
CPPUNIT_ASSERT_DOUBLES_EQUAL(5.0, gpsNode->getDoubleValue("wp/wp[1]/course-deviation-deg"), 0.5);
#endif
CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("wp/wp[1]/to-flag")); CPPUNIT_ASSERT_EQUAL(true, gpsNode->getBoolValue("wp/wp[1]/to-flag"));
CPPUNIT_ASSERT_EQUAL(false, gpsNode->getBoolValue("wp/wp[1]/from-flag")); CPPUNIT_ASSERT_EQUAL(false, gpsNode->getBoolValue("wp/wp[1]/from-flag"));
// check cross-track error calculation
SGGeod alongTrack = SGGeodesy::direct(coaPos, course, 20 * SG_NM_TO_METER);
SGGeod offTrack = SGGeodesy::direct(alongTrack, course + 90, SG_NM_TO_METER * 0.7);
setPositionAndStabilise(gps, offTrack);
courseToDover = SGGeodesy::courseDeg(offTrack, doverPos);
CPPUNIT_ASSERT_DOUBLES_EQUAL(courseToDover, gpsNode->getDoubleValue("wp/wp[1]/bearing-true-deg"), 0.5);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0.7, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
SGGeod offTrack2 = SGGeodesy::direct(alongTrack, courseToDover - 90, SG_NM_TO_METER * 3.4);
setPositionAndStabilise(gps, offTrack2);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-3.4, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
// check cross track very close to COA
SGGeod alongTrack11 = SGGeodesy::direct(coaPos, course, 0.3);
SGGeod offTrack25 = SGGeodesy::direct(alongTrack11, course + 90, SG_NM_TO_METER * -3.2);
setPositionAndStabilise(gps, offTrack25);
CPPUNIT_ASSERT_DOUBLES_EQUAL(-3.2, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(course, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.1);
// check cross track very close to DVR
double distanceCOA_DVR = SGGeodesy::distanceM(coaPos, doverPos);
SGGeod alongTrack2 = SGGeodesy::direct(coaPos, course, distanceCOA_DVR - 0.3);
SGGeod offTrack3 = SGGeodesy::direct(alongTrack2, course + 90, SG_NM_TO_METER * 1.6);
setPositionAndStabilise(gps, offTrack3);
CPPUNIT_ASSERT_DOUBLES_EQUAL(1.6, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(revCourse + 180.0, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.1);
// check cross track in the middle
SGGeod alongTrack3 = SGGeodesy::direct(coaPos, course, distanceCOA_DVR * 0.52);
SGGeod offTrack4 = SGGeodesy::direct(alongTrack3, course + 90, SG_NM_TO_METER * 15.6);
setPositionAndStabilise(gps, offTrack4);
CPPUNIT_ASSERT_DOUBLES_EQUAL(15.6, gpsNode->getDoubleValue("wp/wp[1]/course-error-nm"), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(261.55, gpsNode->getDoubleValue("wp/leg-true-course-deg"), 0.1);
} }
void GPSTests::testDirectToLegOnFlightplan() void GPSTests::testDirectToLegOnFlightplan()
@ -387,7 +421,7 @@ void GPSTests::testDirectToLegOnFlightplan()
auto fp = new FlightPlan; auto fp = new FlightPlan;
rm->setFlightPlan(fp); rm->setFlightPlan(fp);
FGTestApi::setUp::populateFP(fp, "EBBR", "07L", "EGGD", "27", FGTestApi::setUp::populateFPWithoutNasal(fp, "EBBR", "07L", "EGGD", "27",
"NIK COA DVR TAWNY WOD"); "NIK COA DVR TAWNY WOD");
// takes the place of the Nasal delegates // takes the place of the Nasal delegates