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Signed-off-by: Louise Poubel <[email protected]>
osrf · Nov 4, 2021 · 1181aa3 · 1181aa3
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commit 1181aa3
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Showing 2 changed files with 27 additions and 6 deletions.
diff --git a/lrauv_ignition_plugins/proto/lrauv_command.proto b/lrauv_ignition_plugins/proto/lrauv_command.proto
@@ -43,7 +43,12 @@ message LRAUVCommand
                                      // Higher values have the vertical fins
                                      // rotated more clockwise when looking
                                      // from the top (i.e. to starboard)
-  float elevatorAngle_         = 4;
+  float elevatorAngle_         = 4;  // Angle that the controller believes the
+                                     // elevator is currently at. Unit: radians.
+                                     // Higher values have the horizontal fins
+                                     // rotated more counter-clockwise when
+                                     // looking from starboard, which tilts the
+                                     // nose downward when moving forward.
   float massPosition_          = 5;  // Position where the controller believes
                                      // the mass shifter's joint is in. Unit:
                                      // meters. Positive values have the battery
@@ -57,7 +62,11 @@ message LRAUVCommand
                                      // radians. Higher values rotate the
                                      // vertical fins clockwise when looking
                                      // from the top (i.e. to starboard)
-  float elevatorAngleAction_   = 10;
+  float elevatorAngleAction_   = 10;  // Target angle for the elevator joint.
+                                      // Unit: radians. Higher values rotate
+                                      // vertical fins more counter-clockwise
+                                      // when looking from starboard, which tilts
+                                      // the nose downward when moving forward.
   float massPositionAction_    = 11;  // Target position for the battery's joint.
                                       // Unit: meters. Positive values move the
                                       // battery forward, tilting the nose

diff --git a/lrauv_ignition_plugins/test/test_elevator.cc b/lrauv_ignition_plugins/test/test_elevator.cc
@@ -40,11 +40,12 @@ TEST_F(LrauvTestFixture, Elevator)
   cmdMsg.set_propomegaaction_(30);
 
   // Rotate elevator counter-clockwise when looking from starboard, which
-  // causes the vehicle to move down
-  cmdMsg.set_elevatorangleaction_(0.8);
+  // causes the vehicle to pitch down
+  cmdMsg.set_elevatorangleaction_(0.27);
 
   // Neutral buoyancy
   cmdMsg.set_buoyancyaction_(0.0005);
+  cmdMsg.set_dropweightstate_(true);
 
   // Run server until the command is processed and the model reaches a certain
   // point vertically
@@ -54,10 +55,21 @@ TEST_F(LrauvTestFixture, Elevator)
     return this->tethysPoses.back().Pos().Z() > targetZ;
   });
 
-  EXPECT_LT(100, this->iterations);
-  EXPECT_LT(100, this->tethysPoses.size());
+  EXPECT_LT(1000, this->iterations);
+  EXPECT_LT(1000, this->tethysPoses.size());
 
   // Vehicle goes down
   EXPECT_GT(targetZ, this->tethysPoses.back().Pos().Z());
+
+  for (int i = 0; i < this->tethysPoses.size(); ++i)
+  {
+    auto pose = this->tethysPoses[i];
+
+    // FIXME(anyone) It goes up a little bit in the beginning
+    if (i < 1000)
+      EXPECT_GT(0.2, pose.Pos().Z()) << i << " -- " << pose.Pos().Z();
+    else
+      EXPECT_GT(0.0, pose.Pos().Z()) << i << " -- " << pose.Pos().Z();
+  }
 }