All tests enabled

Author: ufechner7

Project.toml

@@ -6,11 +6,13 @@ version = "1.0.0-DEV"
 [deps]
 DiscretePIDs = "c1363496-6848-4723-8758-079b737f6baf"
 KiteModels = "b94af626-7959-4878-9336-2adc27959007"
+KiteUtils = "90980105-b163-44e5-ba9f-8b1c83bb0533"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 
 [compat]
 DiscretePIDs = "0.1.6"
 KiteModels = "0.8.1"
+KiteUtils = "0.10.13"
 Parameters = "0.12.3"
 julia = "1.6.7"
 

src/SimpleKiteControllers.jl

@@ -1,9 +1,9 @@
 module SimpleKiteControllers
 
-using DiscretePIDs, Parameters
+using DiscretePIDs, Parameters, KiteUtils
 
 export ParkingController, ParkingControllerSettings
-export linearize
+export linearize, calc_steering, navigate
 
 @with_kw mutable struct ParkingControllerSettings @deftype Float64
     dt

test/runtests.jl

@@ -1,7 +1,7 @@
 using SimpleKiteControllers
 using Test
 
-@testset "SimpleKiteControllers.jl" begin
+@testset verbose=true "SimpleKiteControllers.jl" begin
     @testset "test_linearize" begin
         # set the parameters of the parking controller
         pcs = ParkingControllerSettings(dt=0.05)
@@ -25,52 +25,37 @@ using Test
         @test ndi_gain ≈ 4.166666666666667
     end
 
+    @testset "test_calc_steering" begin
+        # set the parameters of the parking controller
+        pcs = ParkingControllerSettings(dt=0.05)
+        pcs.kp_tr=1.05
+        pcs.ki_tr=0.012
+        # create the parking controller
+        pc = ParkingController(pcs)
+        # set the heading
+        heading = deg2rad(1.0)
+        elevation = deg2rad(70.0)
+        chi_set = deg2rad(34.0)
+        u_s, ndi_gain, psi_dot, psi_dot_set = calc_steering(pc, heading, chi_set; elevation)
+        @test u_s ≈ 18.135061759003584
+        @test ndi_gain ≈ 2.0833333333333335
+        @test psi_dot ≈ 0.3490658503988659
+        @test psi_dot_set ≈ 8.639379797371932
+    end
 
-# function test_calc_steering()
-#     @testset "test_calc_steering" begin
-#         # set the parameters of the parking controller
-#         pcs = ParkingControllerSettings(dt=0.05)
-#         pcs.kp_tr=1.05
-#         pcs.ki_tr=0.012
-#         # create the parking controller
-#         pc = ParkingController(pcs)
-#         # set the heading
-#         heading = deg2rad(1.0)
-#         elevation = deg2rad(70.0)
-#         chi_set = deg2rad(34.0)
-#         u_s, ndi_gain, psi_dot, psi_dot_set = calc_steering(pc, heading, chi_set; elevation)
-#         @test u_s ≈ 18.135061759003584
-#         @test ndi_gain ≈ 2.0833333333333335
-#         @test psi_dot ≈ 0.3490658503988659
-#         @test psi_dot_set ≈ 8.639379797371932
-#     end
-#     nothing
-# end
-
-# function test_navigate()
-#     @testset "test_navigate" begin
-#         # set the parameters of the parking controller
-#         pcs = ParkingControllerSettings(dt=0.05)
-#         pcs.kp=1.05
-#         pcs.ki=0.012
-#         # create the parking controller
-#         pc = ParkingController(pcs)
-#         # set the azimuth
-#         azimuth = deg2rad(90.0)
-#         # set the elevation
-#         elevation = deg2rad(70.0)
-#         chi_set = navigate(pc, azimuth, elevation)
-#         @test chi_set ≈ -deg2rad(34.019878734151234)
-#     end
-#     nothing
-# end
+    @testset "test_navigate" begin
+        # set the parameters of the parking controller
+        pcs = ParkingControllerSettings(dt=0.05)
+        pcs.kp=1.05
+        pcs.ki=0.012
+        # create the parking controller
+        pc = ParkingController(pcs)
+        # set the azimuth
+        azimuth = deg2rad(90.0)
+        # set the elevation
+        elevation = deg2rad(70.0)
+        chi_set = navigate(pc, azimuth, elevation)
+        @test chi_set ≈ -deg2rad(34.019878734151234)
+    end
 
-# function test_parking_controller()
-#     @testset verbose=true "test_parking_controller" begin
-#         test_calc_steering()
-#         test_linearize()
-#         test_navigate()
-#     end
-#     nothing
-# end
 end