TakeoffTest.cpp
3.36 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
/****************************************************************************
*
* Copyright (C) 2019 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 <Takeoff.hpp>
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
TEST(TakeoffTest, Initialization)
{
Takeoff takeoff;
EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::disarmed);
}
TEST(TakeoffTest, RegularTakeoffRamp)
{
Takeoff takeoff;
takeoff.setSpoolupTime(1.f);
takeoff.setTakeoffRampTime(2.0);
takeoff.generateInitialRampValue(CONSTANTS_ONE_G / 0.5f);
// disarmed, landed, don't want takeoff
takeoff.updateTakeoffState(false, true, false, 1.f, false, 0);
EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::disarmed);
// armed, not landed anymore, don't want takeoff
takeoff.updateTakeoffState(true, false, false, 1.f, false, 500_ms);
EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::spoolup);
// armed, not landed, don't want takeoff yet, spoolup time passed
takeoff.updateTakeoffState(true, false, false, 1.f, false, 2_s);
EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::ready_for_takeoff);
// armed, not landed, want takeoff
takeoff.updateTakeoffState(true, false, true, 1.f, false, 3_s);
EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::rampup);
// armed, not landed, want takeoff, ramping up
takeoff.updateTakeoffState(true, false, true, 1.f, false, 4_s);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), 0.f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), .5f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.5f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.5f);
// armed, not landed, want takeoff, rampup time passed
takeoff.updateTakeoffState(true, false, true, 1.f, false, 6500_ms);
EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::flight);
}