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

◆ control_mode

enum testsetup::control_mode

Offboard controller tester.

Tests offboard position, velocity and acceleration control

Enumerator
POSITION
VELOCITY
ACCELERATION

Definition at line 36 of file offboard_control.h.

◆ path_shape

enum testsetup::path_shape

Enumerator
SQUARE
CIRCLE
EIGHT
ELLIPSE

Definition at line 42 of file offboard_control.h.

Function Documentation

◆ circle_path_motion()

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.

◆ circle_shape()

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.

◆ eight_path_motion()

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.

◆ eight_shape()

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.

◆ ellipse_path_motion()

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.

◆ ellipse_shape()

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.

◆ init()

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.

◆ local_pos_cb()

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

inlineprivate

Definition at line 554 of file offboard_control.h.

◆ OffboardControl()

testsetup::OffboardControl::OffboardControl ( )

inline

Definition at line 51 of file offboard_control.h.

◆ pos_setpoint()

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.

◆ setup()

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

inline

Definition at line 36 of file test_setup.h.

◆ SitlTest()

SitlTest::SitlTest ( )

Definition at line 20 of file sitl_test.cpp.

◆ spin() [1/2]

void SitlTest::spin	(	int	argc,
		char *	argv[]
	)

static

Todo:: add more testing structures

Definition at line 23 of file sitl_test.cpp.

◆ spin() [2/2]

void testsetup::OffboardControl::spin	(	int	argc,
		char *	argv[]
	)

inline

Todo:: : lacks firmware support, for now

Definition at line 143 of file offboard_control.h.

◆ square_path_motion()

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::TestSetup ( )

inline

Definition at line 25 of file test_setup.h.

◆ threshold_definition()

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.

◆ wait_and_move()

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::~SitlTest ( )

inline

Definition at line 34 of file sitl_test.h.

◆ ~TestSetup()

testsetup::TestSetup::~TestSetup ( )

inline

Definition at line 28 of file test_setup.h.

Variable Documentation

◆ current

Eigen::Vector3d testsetup::OffboardControl::current

private

Definition at line 213 of file offboard_control.h.

◆ linvel_d_gain

double testsetup::OffboardControl::linvel_d_gain

private

Definition at line 192 of file offboard_control.h.

◆ linvel_i_gain

double testsetup::OffboardControl::linvel_i_gain

private

Definition at line 191 of file offboard_control.h.

◆ linvel_i_max

double testsetup::OffboardControl::linvel_i_max

private

Definition at line 193 of file offboard_control.h.

◆ linvel_i_min

double testsetup::OffboardControl::linvel_i_min

private

Definition at line 194 of file offboard_control.h.

◆ linvel_p_gain

double testsetup::OffboardControl::linvel_p_gain

private

Definition at line 190 of file offboard_control.h.

◆ local_pos_sp_pub

ros::Publisher testsetup::OffboardControl::local_pos_sp_pub

private

Definition at line 206 of file offboard_control.h.

◆ local_pos_sub

ros::Subscriber testsetup::OffboardControl::local_pos_sub

private

Definition at line 208 of file offboard_control.h.

◆ localpos

geometry_msgs::PoseStamped testsetup::OffboardControl::localpos

private

Definition at line 210 of file offboard_control.h.

◆ mode

control_mode testsetup::OffboardControl::mode

private

Definition at line 202 of file offboard_control.h.

◆ nh

ros::NodeHandle testsetup::TestSetup::nh

Definition at line 28 of file test_setup.h.

◆ nh_sp

ros::NodeHandle testsetup::OffboardControl::nh_sp

private

Definition at line 205 of file offboard_control.h.

◆ num_of_tests [1/2]

int testsetup::TestSetup::num_of_tests

Definition at line 34 of file test_setup.h.

◆ num_of_tests [2/2]

int testsetup::OffboardControl::num_of_tests

private

Definition at line 188 of file offboard_control.h.

◆ pid

pidcontroller::PIDController testsetup::OffboardControl::pid

private

Definition at line 184 of file offboard_control.h.

◆ ps

geometry_msgs::PoseStamped testsetup::OffboardControl::ps

private

Definition at line 210 of file offboard_control.h.

◆ rate [1/2]

double testsetup::TestSetup::rate

Definition at line 33 of file test_setup.h.

◆ rate [2/2]

double testsetup::OffboardControl::rate

private

Definition at line 186 of file offboard_control.h.

◆ shape

path_shape testsetup::OffboardControl::shape

private

Definition at line 203 of file offboard_control.h.

◆ test

TestSetup testsetup::OffboardControl::test

private

Definition at line 183 of file offboard_control.h.

◆ threshold

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

private

Definition at line 215 of file offboard_control.h.

◆ use_pid [1/2]

bool testsetup::TestSetup::use_pid

Definition at line 32 of file test_setup.h.

◆ use_pid [2/2]

bool testsetup::OffboardControl::use_pid

private

Definition at line 187 of file offboard_control.h.

◆ vel_sp_pub

ros::Publisher testsetup::OffboardControl::vel_sp_pub

private

Definition at line 207 of file offboard_control.h.

◆ vs

geometry_msgs::TwistStamped testsetup::OffboardControl::vs

private

Definition at line 211 of file offboard_control.h.

◆ yawrate_d_gain

double testsetup::OffboardControl::yawrate_d_gain

private

Definition at line 198 of file offboard_control.h.

◆ yawrate_i_gain

double testsetup::OffboardControl::yawrate_i_gain

private

Definition at line 197 of file offboard_control.h.

◆ yawrate_i_max

double testsetup::OffboardControl::yawrate_i_max

private

Definition at line 199 of file offboard_control.h.

◆ yawrate_i_min

double testsetup::OffboardControl::yawrate_i_min

private

Definition at line 200 of file offboard_control.h.

◆ yawrate_p_gain

double testsetup::OffboardControl::yawrate_p_gain

private

Definition at line 196 of file offboard_control.h.

Namespaces

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ control_mode

◆ path_shape

Function Documentation

◆ circle_path_motion()

◆ circle_shape()

◆ eight_path_motion()

◆ eight_shape()

◆ ellipse_path_motion()

◆ ellipse_shape()

◆ init()

◆ local_pos_cb()

◆ OffboardControl()

◆ pos_setpoint()

◆ setup()

◆ SitlTest()

◆ spin() [1/2]

◆ spin() [2/2]

◆ square_path_motion()

◆ TestSetup()

◆ threshold_definition()

◆ wait_and_move()

◆ ~SitlTest()

◆ ~TestSetup()

Variable Documentation

◆ current

◆ linvel_d_gain

◆ linvel_i_gain

◆ linvel_i_max

◆ linvel_i_min

◆ linvel_p_gain

◆ local_pos_sp_pub

◆ local_pos_sub

◆ localpos

◆ mode

◆ nh

◆ nh_sp

◆ num_of_tests [1/2]

◆ num_of_tests [2/2]

◆ pid

◆ ps

◆ rate [1/2]

◆ rate [2/2]

◆ shape

◆ test

◆ threshold

◆ use_pid [1/2]

◆ use_pid [2/2]

◆ vel_sp_pub

◆ vs

◆ yawrate_d_gain

◆ yawrate_i_gain

◆ yawrate_i_max

◆ yawrate_i_min

◆ yawrate_p_gain