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https://github.com/PX4/PX4-Autopilot.git
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bcbaaa3a18
Disabled if ICE_IDLE_RPM is 0. The idle state is entered when the commanded throttle is close to zero or the measured RPM drops below the idle threshold. The idle state is exited if the commanded thrust is increased to above the last needed throttle to keep idle. Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>
203 lines
7.2 KiB
C++
203 lines
7.2 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <PID.hpp>
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// Run all PID unit tests:
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// make tests TESTFILTER=unit-PID
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// Run a subset directly (after building) by filtering gtest cases, e.g.:
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// ./build/px4_sitl_test/unit-PID --gtest_filter=PIDTest.AntiWindup*
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TEST(PIDTest, AllZeroCase)
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{
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PID pid;
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), 0.f);
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}
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TEST(PIDTest, OutputLimit)
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{
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PID pid;
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pid.setOutputLimit(.01f);
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pid.setGains(.1f, 0.f, 0.f);
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pid.setSetpoint(1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), .01f);
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EXPECT_FLOAT_EQ(pid.update(.9f, 0.f, false), .01f);
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EXPECT_NEAR(pid.update(.95f, 0.f, false), .005f, 1e-6f);
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, false), 0.f);
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EXPECT_NEAR(pid.update(1.05f, 0.f, false), -.005f, 1e-6f);
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EXPECT_FLOAT_EQ(pid.update(1.1f, 0.f, false), -.01f);
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EXPECT_FLOAT_EQ(pid.update(1.15f, 0.f, false), -.01f);
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EXPECT_FLOAT_EQ(pid.update(2.f, 0.f, false), -.01f);
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}
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TEST(PIDTest, ProportinalOnly)
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{
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PID pid;
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pid.setOutputLimit(1.f);
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pid.setGains(.1f, 0.f, 0.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), 0.f);
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pid.setSetpoint(1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), .1f);
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, false), 0.f);
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float plant = 0.f;
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float output = 10000.f;
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int i; // need function scope to check how many steps
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for (i = 1000; i > 0; i--) {
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const float output_new = pid.update(plant, 0.f, false);
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plant += output_new;
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// expect the output to get smaller with each iteration
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if (output_new >= output) {
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break;
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}
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output = output_new;
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}
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EXPECT_FLOAT_EQ(plant, 1.f);
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EXPECT_GT(i, 0); // it shouldn't have taken longer than an iteration timeout to converge
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}
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TEST(PIDTest, InteralOpenLoop)
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{
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PID pid;
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pid.setOutputLimit(1.f);
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pid.setGains(0.f, .1f, 0.f);
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pid.setIntegralLimit(.05f);
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pid.setSetpoint(1.f);
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// Zero error
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
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// Open loop ramp up
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .01f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .02f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .03f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .04f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
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// Open loop ramp down
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pid.setSetpoint(-1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .04f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .03f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .02f);
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EXPECT_NEAR(pid.update(0.f, 0.1f, true), .01f, 1e-6f);
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EXPECT_NEAR(pid.update(0.f, 0.1f, true), 0.f, 1e-6f);
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EXPECT_NEAR(pid.update(0.f, 0.1f, true), -.01f, 1e-6f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.02f);
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EXPECT_NEAR(pid.update(0.f, 0.1f, true), -.03f, 1e-6f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.04f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
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pid.resetIntegral();
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.01f);
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}
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TEST(PIDTest, AntiWindupHighSaturation)
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{
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// Integrator-only controller whose output saturates before the integral limit.
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PID pid;
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pid.setGains(0.f, .1f, 0.f);
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pid.setIntegralLimit(1.f); // large, so the output limit saturates first
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pid.setOutputLimit(.05f);
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pid.setSetpoint(1.f);
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// Output uses the pre-update integral, so the first step is not yet saturated.
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EXPECT_FLOAT_EQ(pid.update(0.f, 1.f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.getIntegral(), .1f);
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// Output now saturates high; integrating further up would wind up -> frozen.
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EXPECT_FLOAT_EQ(pid.update(0.f, 1.f, true), .05f);
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EXPECT_FLOAT_EQ(pid.getIntegral(), .1f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 1.f, true), .05f);
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EXPECT_FLOAT_EQ(pid.getIntegral(), .1f);
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// Error reverses: still saturated high, but integrating down unwinds -> allowed.
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pid.setSetpoint(-1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 1.f, true), .05f);
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EXPECT_FLOAT_EQ(pid.getIntegral(), 0.f);
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}
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TEST(PIDTest, AntiWindupLowSaturation)
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{
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PID pid;
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pid.setGains(0.f, .1f, 0.f);
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pid.setIntegralLimit(1.f);
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pid.setOutputLimit(.05f);
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pid.setSetpoint(-1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 1.f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.getIntegral(), -.1f);
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// Output saturates low; integrating further down would wind up -> frozen.
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EXPECT_FLOAT_EQ(pid.update(0.f, 1.f, true), -.05f);
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EXPECT_FLOAT_EQ(pid.getIntegral(), -.1f);
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// Error reverses: still saturated low, but integrating up unwinds -> allowed.
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pid.setSetpoint(1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 1.f, true), -.05f);
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EXPECT_FLOAT_EQ(pid.getIntegral(), 0.f);
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}
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TEST(PIDTest, DerivativeOnlyDampsFeedbackMotion)
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{
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// Derivative-on-measurement: the D term must oppose feedback motion so the
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// output damps the plant rather than reinforcing its movement.
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PID pid;
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pid.setOutputLimit(100.f);
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pid.setGains(0.f, 0.f, 1.f);
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pid.setSetpoint(0.f);
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// First sample seeds _last_feedback; derivative contribution is zero.
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, false), 0.f);
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// Feedback rises by 1.0 over dt = 0.1 -> d(feedback)/dt = +10.
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// Expected output = -Kd * d(feedback)/dt = -10.
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.1f, false), -10.f);
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// Feedback falls by 1.0 over dt = 0.1 -> d(feedback)/dt = -10.
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// Expected output = +10 (still damping).
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, false), 10.f);
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}
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