Rover: windvane rework and add sailboat autotest #17139
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IamPete1
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Thank you for doing this, @IamPete1 . As long as you're adding autotests, is there a plan to have unit tests for Rover? I would love to include tests for my code, something like mock relative wind x, existing servo positions y, confirm mast rotation = z. |
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@arikrupnik no plans for unit tests as such, in general the auto tests are a bit more holistic, this one just checks it can get round a mission. |
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@arikrupnik hard to wedge unit tests in for the sort of thing you describe - but that's probably all doable in a regression test. |
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Apr 12, 2021
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Rover/Log.cpp
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| (double)wind_dir_rel, | ||
| (double)wind_speed_true, | ||
| (double)wind_speed_apparent, | ||
| (double)current_tack, |
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this should not be a double
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Merged, thanks! |
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This reworks the windvane calculations. The main change is to store the apparent wind in body frame this also applys the filters to at the end of caculations. Currently we would filter the apparent wind and then use that filtered value with the current GPS speed. This change means that the GPS speed and wind speed are taken at a single instant, the resulting true wind is then filtered. A new filter param is added for the true wind. This allows is to use a 'fast' filter on the apparent wind that is used to trim the sail and a slow filter on the true wind that is used to navigate the boat.
This also moves WNDVN_RC_IN_NO to a RCxOPTION.
Also adds a very basic autotest for sailboats. Can be run with:
./Tools/autotest/autotest.py build.Rover test.SailboatOh and it moves wind logging to the windvane lib in a new
WINDlog, and logs more info, sail outputs are still in theSAILlog.@srmainwaring @arikrupnik