Tests pass

Author: ufechner7

src/SimpleKiteControllers.jl

@@ -2,6 +2,9 @@ module SimpleKiteControllers
 
 using DiscretePIDs, Parameters
 
+export ParkingController, ParkingControllerSettings
+export linearize
+
 @with_kw mutable struct ParkingControllerSettings @deftype Float64
     dt
     # turn rate controller settings

test/runtests.jl

@@ -2,5 +2,75 @@ using SimpleKiteControllers
 using Test
 
 @testset "SimpleKiteControllers.jl" begin
-    # Write your tests here.
+    @testset "test_linearize" 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 desired turn rate
+        psi_dot = 0.1
+        # set the heading
+        psi = 0.0
+        # set the elevation angle
+        elevation = 0.0
+        # set the apparent wind speed
+        v_app = 10.0
+        # set the depower setting
+        ud_prime = 0.5
+        # linearize the NDI block
+        u_s, ndi_gain = linearize(pc, psi_dot, psi, elevation, v_app; ud_prime)
+        @test u_s ≈ 0.41666666666666674
+        @test ndi_gain ≈ 4.166666666666667
+    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
+
+# function test_parking_controller()
+#     @testset verbose=true "test_parking_controller" begin
+#         test_calc_steering()
+#         test_linearize()
+#         test_navigate()
+#     end
+#     nothing
+# end
 end