Make integration tests pass #187
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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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FWIW I'm not convinced we should do this. I think we should fix hydrodynamics and tune control loops until the vehicle behaves in a physically sound way, but I'm not going to get in the way if we think it's best to move forward with it as-is. |
| @@ -101,16 +86,19 @@ TEST_F(LrauvTestFixture, DepthVBS) | |||
| } | |||
| } | |||
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| // Vehicle's final pose should be near the 10m mark | |||
| EXPECT_NEAR(tethysPoses.back().Pos().Z(), -10, 1e-1); | |||
| // FIXME(hidmic): hydrodynamic damping forces induce | |||
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As I mentioned we should not fix this as it will require re-parameterization. I'm hoping adding the cross terms will make this go away.
| @@ -88,19 +88,19 @@ TEST_F(LrauvTestFixture, PitchDepthVBS) | |||
| for (const auto pose: this->tethysPoses) | |||
| { | |||
| // Vehicle should dive down. | |||
| EXPECT_LT(pose.Pos().Z(), 0.1); | |||
| EXPECT_LE(pose.Pos().Z(), 0.5); | |||
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This makes sense as there is minor oscillation at the surface but we really should test this at depth.
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It's not the oscillation, but the fluid density changing at z = 0.5m (i.e. so going to surface means floating up to z = 0.5m). I was meaning to ask, should the interface be at -0.5m instead?
| @@ -89,19 +89,27 @@ TEST_F(LrauvTestFixture, PitchMass) | |||
| // Euler.Z = yaw | |||
| for(auto pose: this->tethysPoses) | |||
| { | |||
| // Max Pitch 20 degrees. Allow 5 degrees error for oscillations. | |||
| // Min Pitch -5 degrees. Again allow 5 degrees error for oscillation. | |||
| // FIXME(hidmic): when surfacing, the vehicle oscillates | |||
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I think the problem here is we are testing at the surface which makes behaviors hard to define and will into oscillations. Rather than tweaking this parameter, we should not derive from LrauvTestFixture but have the test derive from LrauvTestFixtureAtDepth. I thought I had done this but its not clearly the case.
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On a second inspection, we still get an initial oscillation about pitch = 0 if running the test at a depth (which requires it to be neutrally buoyant) as soon as the LRAUV controller is engaged. I'll check for spurious mass shifter commands.
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I'll check for spurious mass shifter commands.
Indeed. I can see mass shift and vertical fin commands coming through. I can't find anything in mission definitions. A sanity check on startup?
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Hmm I wonder if the default behviour ben set is commanding it to go to the
surface first.
…On Wed, Apr 6, 2022 at 10:29 PM Michel Hidalgo ***@***.***> wrote:
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In lrauv_ignition_plugins/test/test_mission_pitch_mass.cc
<#187 (comment)>:
> @@ -89,19 +89,27 @@ TEST_F(LrauvTestFixture, PitchMass)
// Euler.Z = yaw
for(auto pose: this->tethysPoses)
{
- // Max Pitch 20 degrees. Allow 5 degrees error for oscillations.
- // Min Pitch -5 degrees. Again allow 5 degrees error for oscillation.
+ // FIXME(hidmic): when surfacing, the vehicle oscillates
On a second inspection, we still get an initial oscillation about pitch =
0 if running the test at a depth (which requires it to be neutrally
buoyant) as soon as the LRAUV controller is engaged. I'll check for
spurious mass shifter commands.
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It is. We can disable it for tests though (I dropped it from the default behavior, we can drop it from the startup behavior too). |
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That might cause a bit of disturbance at the start for pitch-mass I think. |
Precisely what the title says. This patch, coupled with some configuration changes for the LRAUV executable to avoid a go-to-surface behavior at the end of each test, makes integration tests pass.