Namespaces | Classes | Enumerations | Enumerator | Functions | Variables
Sitl_test

SITL test node implementation. More...

Namespaces

 sitltest
 
 testsetup
 

Classes

class  testsetup::OffboardControl
 
class  sitltest::SitlTest
 SITL test node class. More...
 
class  testsetup::TestSetup
 

Enumerations

enum  testsetup::control_mode { testsetup::POSITION, testsetup::VELOCITY, testsetup::ACCELERATION }
 Offboard controller tester. More...
 
enum  testsetup::path_shape { testsetup::SQUARE, testsetup::CIRCLE, testsetup::EIGHT, testsetup::ELLIPSE }
 

Functions

void testsetup::OffboardControl::circle_path_motion (ros::Rate loop_rate, control_mode mode)
 Circle path motion routine. More...
 
Eigen::Vector3d testsetup::OffboardControl::circle_shape (int angle)
 Defines circle path. More...
 
void testsetup::OffboardControl::eight_path_motion (ros::Rate loop_rate, control_mode mode)
 Eight path motion routine. More...
 
Eigen::Vector3d testsetup::OffboardControl::eight_shape (int angle)
 Defines Gerono lemniscate path. More...
 
void testsetup::OffboardControl::ellipse_path_motion (ros::Rate loop_rate, control_mode mode)
 Ellipse path motion routine. More...
 
Eigen::Vector3d testsetup::OffboardControl::ellipse_shape (int angle)
 Defines ellipse path. More...
 
void testsetup::OffboardControl::init ()
 
void testsetup::OffboardControl::local_pos_cb (const geometry_msgs::PoseStampedConstPtr &msg)
 
 testsetup::OffboardControl::OffboardControl ()
 
Eigen::Vector3d testsetup::OffboardControl::pos_setpoint (int tr_x, int tr_y, int tr_z)
 Defines single position setpoint. More...
 
void testsetup::TestSetup::setup (const ros::NodeHandle &nh)
 
 sitltest::SitlTest::SitlTest ()
 
static void sitltest::SitlTest::spin (int argc, char *argv[])
 
void testsetup::OffboardControl::spin (int argc, char *argv[])
 
void testsetup::OffboardControl::square_path_motion (ros::Rate loop_rate, control_mode mode)
 Square path motion routine. More...
 
 testsetup::TestSetup::TestSetup ()
 
std::array< double, 100 > testsetup::OffboardControl::threshold_definition ()
 Gaussian noise generator for accepted position threshold. More...
 
void testsetup::OffboardControl::wait_and_move (geometry_msgs::PoseStamped target)
 Defines the accepted threshold to the destination/target position before moving to the next setpoint. More...
 
 sitltest::SitlTest::~SitlTest ()
 
 testsetup::TestSetup::~TestSetup ()
 

Variables

Eigen::Vector3d testsetup::OffboardControl::current
 
double testsetup::OffboardControl::linvel_d_gain
 
double testsetup::OffboardControl::linvel_i_gain
 
double testsetup::OffboardControl::linvel_i_max
 
double testsetup::OffboardControl::linvel_i_min
 
double testsetup::OffboardControl::linvel_p_gain
 
ros::Publisher testsetup::OffboardControl::local_pos_sp_pub
 
ros::Subscriber testsetup::OffboardControl::local_pos_sub
 
geometry_msgs::PoseStamped testsetup::OffboardControl::localpos
 
control_mode testsetup::OffboardControl::mode
 
ros::NodeHandle testsetup::TestSetup::nh
 
ros::NodeHandle testsetup::OffboardControl::nh_sp
 
int testsetup::TestSetup::num_of_tests
 
int testsetup::OffboardControl::num_of_tests
 
pidcontroller::PIDController testsetup::OffboardControl::pid
 
geometry_msgs::PoseStamped testsetup::OffboardControl::ps
 
double testsetup::TestSetup::rate
 
double testsetup::OffboardControl::rate
 
path_shape testsetup::OffboardControl::shape
 
TestSetup testsetup::OffboardControl::test
 
std::array< double, 100 > testsetup::OffboardControl::threshold
 
bool testsetup::TestSetup::use_pid
 
bool testsetup::OffboardControl::use_pid
 
ros::Publisher testsetup::OffboardControl::vel_sp_pub
 
geometry_msgs::TwistStamped testsetup::OffboardControl::vs
 
double testsetup::OffboardControl::yawrate_d_gain
 
double testsetup::OffboardControl::yawrate_i_gain
 
double testsetup::OffboardControl::yawrate_i_max
 
double testsetup::OffboardControl::yawrate_i_min
 
double testsetup::OffboardControl::yawrate_p_gain
 

Detailed Description

SITL test node implementation.

SITL tests setup.

Enumeration Type Documentation

Offboard controller tester.

Tests offboard position, velocity and acceleration control

Enumerator
POSITION 
VELOCITY 
ACCELERATION 

Definition at line 36 of file offboard_control.h.

Enumerator
SQUARE 
CIRCLE 
EIGHT 
ELLIPSE 

Definition at line 42 of file offboard_control.h.

Function Documentation

void testsetup::OffboardControl::circle_path_motion ( ros::Rate  loop_rate,
control_mode  mode 
)
inlineprivate

Circle path motion routine.

Definition at line 312 of file offboard_control.h.

Eigen::Vector3d testsetup::OffboardControl::circle_shape ( int  angle)
inlineprivate

Defines circle path.

Todo:
Give possibility to user define amplitude of movement (circle radius)

Definition at line 230 of file offboard_control.h.

void testsetup::OffboardControl::eight_path_motion ( ros::Rate  loop_rate,
control_mode  mode 
)
inlineprivate

Eight path motion routine.

Definition at line 372 of file offboard_control.h.

Eigen::Vector3d testsetup::OffboardControl::eight_shape ( int  angle)
inlineprivate

Defines Gerono lemniscate path.

Todo:
Give possibility to user define amplitude of movement (vertical tangent size)

Definition at line 242 of file offboard_control.h.

void testsetup::OffboardControl::ellipse_path_motion ( ros::Rate  loop_rate,
control_mode  mode 
)
inlineprivate

Ellipse path motion routine.

Definition at line 432 of file offboard_control.h.

Eigen::Vector3d testsetup::OffboardControl::ellipse_shape ( int  angle)
inlineprivate

Defines ellipse path.

Todo:
Give possibility to user define amplitude of movement (tangent sizes)

Definition at line 254 of file offboard_control.h.

void testsetup::OffboardControl::init ( )
inline

Setup of the test conditions

Note
some of these are based on values defaulted @ https://bitbucket.org/enddl22/ardrone_side_project/ tweaks to them so to get a better velocity response are welcomed!

Setpoint control mode selector

Available modes:

  • position
  • velocity
  • acceleration

Setpoint path shape selector

Available shapes:

  • square
  • circle
  • eight
  • ellipse (in 3D space)

Definition at line 59 of file offboard_control.h.

void testsetup::OffboardControl::local_pos_cb ( const geometry_msgs::PoseStampedConstPtr &  msg)
inlineprivate

Definition at line 554 of file offboard_control.h.

testsetup::OffboardControl::OffboardControl ( )
inline

Definition at line 51 of file offboard_control.h.

Eigen::Vector3d testsetup::OffboardControl::pos_setpoint ( int  tr_x,
int  tr_y,
int  tr_z 
)
inlineprivate

Defines single position setpoint.

Todo:
Give possibility to user define amplitude of movement (square corners coordinates)

Definition at line 222 of file offboard_control.h.

void testsetup::TestSetup::setup ( const ros::NodeHandle nh)
inline

Definition at line 36 of file test_setup.h.

SitlTest::SitlTest ( )

Definition at line 20 of file sitl_test.cpp.

void SitlTest::spin ( int  argc,
char *  argv[] 
)
static
Todo:
add more testing structures

Definition at line 23 of file sitl_test.cpp.

void testsetup::OffboardControl::spin ( int  argc,
char *  argv[] 
)
inline
Todo:
: lacks firmware support, for now

Definition at line 143 of file offboard_control.h.

void testsetup::OffboardControl::square_path_motion ( ros::Rate  loop_rate,
control_mode  mode 
)
inlineprivate

Square path motion routine.

Definition at line 268 of file offboard_control.h.

testsetup::TestSetup::TestSetup ( )
inline

Definition at line 25 of file test_setup.h.

std::array<double, 100> testsetup::OffboardControl::threshold_definition ( )
inlineprivate

Gaussian noise generator for accepted position threshold.

Definition at line 539 of file offboard_control.h.

void testsetup::OffboardControl::wait_and_move ( geometry_msgs::PoseStamped  target)
inlineprivate

Defines the accepted threshold to the destination/target position before moving to the next setpoint.

Definition at line 493 of file offboard_control.h.

sitltest::SitlTest::~SitlTest ( )
inline

Definition at line 34 of file sitl_test.h.

testsetup::TestSetup::~TestSetup ( )
inline

Definition at line 28 of file test_setup.h.

Variable Documentation

Eigen::Vector3d testsetup::OffboardControl::current
private

Definition at line 213 of file offboard_control.h.

double testsetup::OffboardControl::linvel_d_gain
private

Definition at line 192 of file offboard_control.h.

double testsetup::OffboardControl::linvel_i_gain
private

Definition at line 191 of file offboard_control.h.

double testsetup::OffboardControl::linvel_i_max
private

Definition at line 193 of file offboard_control.h.

double testsetup::OffboardControl::linvel_i_min
private

Definition at line 194 of file offboard_control.h.

double testsetup::OffboardControl::linvel_p_gain
private

Definition at line 190 of file offboard_control.h.

ros::Publisher testsetup::OffboardControl::local_pos_sp_pub
private

Definition at line 206 of file offboard_control.h.

ros::Subscriber testsetup::OffboardControl::local_pos_sub
private

Definition at line 208 of file offboard_control.h.

geometry_msgs::PoseStamped testsetup::OffboardControl::localpos
private

Definition at line 210 of file offboard_control.h.

control_mode testsetup::OffboardControl::mode
private

Definition at line 202 of file offboard_control.h.

ros::NodeHandle testsetup::TestSetup::nh

Definition at line 28 of file test_setup.h.

ros::NodeHandle testsetup::OffboardControl::nh_sp
private

Definition at line 205 of file offboard_control.h.

int testsetup::TestSetup::num_of_tests

Definition at line 34 of file test_setup.h.

int testsetup::OffboardControl::num_of_tests
private

Definition at line 188 of file offboard_control.h.

pidcontroller::PIDController testsetup::OffboardControl::pid
private

Definition at line 184 of file offboard_control.h.

geometry_msgs::PoseStamped testsetup::OffboardControl::ps
private

Definition at line 210 of file offboard_control.h.

double testsetup::TestSetup::rate

Definition at line 33 of file test_setup.h.

double testsetup::OffboardControl::rate
private

Definition at line 186 of file offboard_control.h.

path_shape testsetup::OffboardControl::shape
private

Definition at line 203 of file offboard_control.h.

TestSetup testsetup::OffboardControl::test
private

Definition at line 183 of file offboard_control.h.

std::array<double, 100> testsetup::OffboardControl::threshold
private

Definition at line 215 of file offboard_control.h.

bool testsetup::TestSetup::use_pid

Definition at line 32 of file test_setup.h.

bool testsetup::OffboardControl::use_pid
private

Definition at line 187 of file offboard_control.h.

ros::Publisher testsetup::OffboardControl::vel_sp_pub
private

Definition at line 207 of file offboard_control.h.

geometry_msgs::TwistStamped testsetup::OffboardControl::vs
private

Definition at line 211 of file offboard_control.h.

double testsetup::OffboardControl::yawrate_d_gain
private

Definition at line 198 of file offboard_control.h.

double testsetup::OffboardControl::yawrate_i_gain
private

Definition at line 197 of file offboard_control.h.

double testsetup::OffboardControl::yawrate_i_max
private

Definition at line 199 of file offboard_control.h.

double testsetup::OffboardControl::yawrate_i_min
private

Definition at line 200 of file offboard_control.h.

double testsetup::OffboardControl::yawrate_p_gain
private

Definition at line 196 of file offboard_control.h.



test_mavros
Author(s): Nuno Marques , Vladimir Ermakov
autogenerated on Tue Jun 1 2021 02:36:42