def test_run_reset(self):
quad = Quadcopter()
assert quad.t == 0
quad.run(t=1)
assert quad.t == approx(1)
quad.reset()
assert quad.t == 0
def test_Quadcopter_yaw(self):
quad = Quadcopter()
# only two motors on, to produce a yaw
quad.set_thrust(0, 10, 0, 10)
quad.run(t=1)
assert quad.rpy.yaw > 0
assert quad.rpy.pitch == 0
assert quad.rpy.roll == 0
#
# now try to yaw in the opposite direction
quad.reset()
quad.set_thrust(10, 0, 10, 0)
quad.run(t=1)
assert quad.rpy.yaw < 0
assert quad.rpy.pitch == 0
assert quad.rpy.roll == 0
def test_lift(self):
quad = Quadcopter(mass=0.5, motor_thrust=0.5)
assert quad.position == (0, 0, 0)
assert quad.rpy == (0, 0, 0)
#
# power all the motors, to lift the quad vertically. The motors give a
# total acceleration of 4g. Considering the gravity, we have a total
# net acceleration of 3g.
t = 1 # second
g = 9.81 # m/s**2
z = 0.5 * (3 * g) * t**2 # d = 1/2 * a * t**2
#
quad.set_thrust(1, 1, 1, 1)
quad.run(t=1, dt=0.0001)
pos = quad.position
assert pos.x == 0
assert pos.y == 0
assert pos.z == approx(z, rel=1e-3) # the simulated z is a bit
# different than the computed one
assert quad.rpy == (0, 0, 0)