test_hillFrameRelativeControl

test_hillFrameRelativeControl.test_hillFrameRelativeControl(show_plots, accuracy, use_hill_state)[source]

Validation Test Description

This unit test verifies the hillFrameRelativeControl module in both supported input modes: direct deputy navigation input mode and precomputed Hill-state input mode. In both cases, the resulting inertial force command is compared to an independently computed truth value from the same control-law equations.

Test Parameters

The test parameters used are the following:

Parameters:

  • accuracy (float) – absolute accuracy value used in the validation test

  • use_hill_state (bool) – if true, use hillStateConverter output; if false, use deputy nav input directly

Description of Variables Being Tested

In this file we are checking the values of the variable

  • forceRequestInertial

recorded from forceOutMsg and forceOutMsgC. These outputs are compared against expected_force, which is computed independently from chief/deputy inertial states, control gains, and references.