From d91bc730b67e9b125fd001f515d56bdb116ac192 Mon Sep 17 00:00:00 2001 From: Julian Smith Date: Tue, 2 Mar 2021 21:31:19 +0000 Subject: [PATCH] test_suite/unit_tests/Autopilot/testPidController*: test startup_current=0 or 1. --- .../Autopilot/testPidController.cxx | 27 +- .../Autopilot/testPidController.hxx | 5 +- .../Autopilot/testPidControllerData.cxx | 2483 ++++++++++++++++- .../Autopilot/testPidControllerData.hxx | 14 +- 4 files changed, 2518 insertions(+), 11 deletions(-) diff --git a/test_suite/unit_tests/Autopilot/testPidController.cxx b/test_suite/unit_tests/Autopilot/testPidController.cxx index a3cbbb9e5..14161ef0d 100644 --- a/test_suite/unit_tests/Autopilot/testPidController.cxx +++ b/test_suite/unit_tests/Autopilot/testPidController.cxx @@ -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"( Vertical Speed Hold false + true /velocities/vertical-speed-fps @@ -80,6 +91,13 @@ void PidControllerTests::test() )"; + // Set the element. + std::string from = ""; + std::string config_text = config_text0; + config_text.replace(config_text.find(from), from.size(), + (startup_current) ? "true" : "false" + ); + 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& outputs = (startup_current) ? pidControllerOutputs1 : pidControllerOutputs0; + assert(pidControllerInputs.size() == outputs.size()); fgSetDouble("/controls/flight/elevator", 0); for (unsigned i=0; iupdate(0.00833333 /*dt*/); diff --git a/test_suite/unit_tests/Autopilot/testPidController.hxx b/test_suite/unit_tests/Autopilot/testPidController.hxx index f0f0e5c56..fb47f15bb 100644 --- a/test_suite/unit_tests/Autopilot/testPidController.hxx +++ b/test_suite/unit_tests/Autopilot/testPidController.hxx @@ -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); }; diff --git a/test_suite/unit_tests/Autopilot/testPidControllerData.cxx b/test_suite/unit_tests/Autopilot/testPidControllerData.cxx index d9b9e38fa..595a8e239 100644 --- a/test_suite/unit_tests/Autopilot/testPidControllerData.cxx +++ b/test_suite/unit_tests/Autopilot/testPidControllerData.cxx @@ -2481,7 +2481,2488 @@ std::vector pidControllerInputs = { { 3.96242, 8.335}, }; -std::vector pidControllerOutputs = { +std::vector pidControllerOutputs1 = { + { -0.00318421}, + { -0.207863}, + { -0.0418555}, + { -0.0287449}, + { -0.0328319}, + { -0.0388736}, + { -0.0451531}, + { -0.0514856}, + { -0.0578435}, + { -0.0642317}, + { -0.0706376}, + { -0.077076}, + { -0.0835325}, + { -0.0900165}, + { -0.096526}, + { -0.103046}, + { -0.109592}, + { -0.116158}, + 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4b8ca2ef9..dd52fb06d 100644 --- a/test_suite/unit_tests/Autopilot/testPidControllerData.hxx +++ b/test_suite/unit_tests/Autopilot/testPidControllerData.hxx @@ -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 pidControllerInputs; -// Expected output. +// Expected output when startup_current is false (the default old behaviour). // -extern std::vector pidControllerOutputs; +// Note the large transient at the start which messes up the initial behaviour. +// +extern std::vector pidControllerOutputs0; + +// Expected output when startup_current is true (the new improved behaviour). +// +extern std::vector pidControllerOutputs1;