SlewRateTest.cpp
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/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <gtest/gtest.h>
#include "SlewRate.hpp"
TEST(SlewRateTest, SlewUpLimited)
{
SlewRate<float> _slew_rate;
_slew_rate.setSlewRate(.1f);
_slew_rate.setForcedValue(-5.5f);
for (int i = 1; i <= 10; i++) {
EXPECT_FLOAT_EQ(_slew_rate.update(20.f, .2f), -5.5f + i * .02f);
}
}
TEST(SlewRateTest, SlewDownLimited)
{
SlewRate<float> _slew_rate;
_slew_rate.setSlewRate(1.1f);
_slew_rate.setForcedValue(17.3f);
for (int i = 1; i <= 10; i++) {
EXPECT_FLOAT_EQ(_slew_rate.update(-50.f, .3f), 17.3f - i * .33f);
}
}
TEST(SlewRateTest, ReachValueSlewed)
{
SlewRate<float> _slew_rate;
_slew_rate.setSlewRate(.2f);
_slew_rate.setForcedValue(8.f);
for (int i = 1; i <= 10; i++) {
EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 8.f + i * .2f);
}
for (int i = 1; i <= 10; i++) {
EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 10.f);
}
}