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test_suite/unit_tests/Autopilot/testPidController*: test startup_current=0 or 1.

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This commit is contained in:
Julian Smith 2021-03-02 21:31:19 +00:00
parent 333c790086
commit d91bc730b6
4 changed files with 2518 additions and 11 deletions
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27
test_suite/unit_tests/Autopilot/testPidController.cxx
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@ -38,18 +38,29 @@ SGPropertyNode_ptr PidControllerTests::configFromString(const std::string& s)
return config;
}
void PidControllerTests::test()
void PidControllerTests::test0()
{
test(false /*startup_current*/);
}
void PidControllerTests::test1()
{
test(true /*startup_current*/);
}
void PidControllerTests::test(bool startup_current)
{
sg_srandom(999);
// Define vertical-hold pid-controller (based on Harrier-GR3).
//
std::string config_text =
std::string config_text0 =
R"(<?xml version="1.0" encoding="UTF-8"?>
<PropertyList>
<pid-controller>
<name>Vertical Speed Hold</name>
<debug>false</debug>
<startup-current></startup-current>
<enable>true</enable>
<input>
<prop>/velocities/vertical-speed-fps</prop>
@ -80,6 +91,13 @@ void PidControllerTests::test()
</PropertyList>
)";
// Set the <startup-current> element.
std::string from = "<startup-current></startup-current>";
std::string config_text = config_text0;
config_text.replace(config_text.find(from), from.size(),
(startup_current) ? "<startup-current>true</startup-current>" : "<startup-current>false</startup-current>"
);
assert(config_text != config_text0);
std::cout << "config_text is:\n" << config_text << "\n";
SGPropertyNode_ptr config = configFromString(config_text);
@ -90,13 +108,14 @@ void PidControllerTests::test()
ap->bind();
ap->init();
assert(pidControllerInputs.size() == pidControllerOutputs.size());
const std::vector<PidControllerOutput>& outputs = (startup_current) ? pidControllerOutputs1 : pidControllerOutputs0;
assert(pidControllerInputs.size() == outputs.size());
fgSetDouble("/controls/flight/elevator", 0);
for (unsigned i=0; i<pidControllerInputs.size(); ++i) {
const PidControllerInput& input = pidControllerInputs[i];
const PidControllerOutput& output = pidControllerOutputs[i];
const PidControllerOutput& output = outputs[i];
fgSetDouble("/velocities/vertical-speed-fps", input.vspeed_fps);
fgSetDouble("/autopilot/settings/vertical-speed-fpm", input.reference / 0.01667);
ap->update(0.00833333 /*dt*/);

5
test_suite/unit_tests/Autopilot/testPidController.hxx
View file

@ -42,9 +42,10 @@ struct PidControllerTests : public CppUnit::TestFixture
// Set up the test suite.
CPPUNIT_TEST_SUITE(PidControllerTests);
CPPUNIT_TEST(test);
CPPUNIT_TEST(test0);
CPPUNIT_TEST(test1);
CPPUNIT_TEST_SUITE_END();
SGPropertyNode_ptr configFromString(const std::string& s);
void test();
void test(bool startup_zeros);
};

2483
test_suite/unit_tests/Autopilot/testPidControllerData.cxx
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File diff suppressed because it is too large Load diff

14
test_suite/unit_tests/Autopilot/testPidControllerData.hxx
View file

@ -14,11 +14,17 @@ struct PidControllerOutput
};
// Define sequence of input values. These are the values actually used with
// Harrier-GR3 when startup_zeros=false, but we use the same inputs for
// startup_zeros=true also.
// Harrier-GR3 when startup_current=true, but we use the same inputs for
// startup_current=false also.
//
extern std::vector<PidControllerInput> pidControllerInputs;
// Expected output.
// Expected output when startup_current is false (the default old behaviour).
//
extern std::vector<PidControllerOutput> pidControllerOutputs;
// Note the large transient at the start which messes up the initial behaviour.
//
extern std::vector<PidControllerOutput> pidControllerOutputs0;
// Expected output when startup_current is true (the new improved behaviour).
//
extern std::vector<PidControllerOutput> pidControllerOutputs1;