MTest Sequence Report: TS_GLB_POS_003 - curved rev

MTest Project: MTest Demo EV3Control_ec Batch Project
MTest Test Object: GlobalPosition (model: GlobalPosition_demo_ec)
MTest Test Group: Testing calculation of global position using MTCD (Test001)
MTest User: MTest Demo User
Generated at: 2019-10-29 09:42

Contents    [Requirement Catalog]    [Test Sequence Catalog]    [Signal Comparison Catalog]    [Assessment Catalog]    [Assessment Result Matrices]     <

  1. 1 TSeq003: curved rev
    1. 1.1 Simulation Parameters and Testbed
  2. 2 Test Input (Test Data)
  3. 3 Test Output (Test Results)
  4. 4 Local Output Data (Internal Test Results)
  5. 5 Test Release (GlobalPosition_Test001_TSeq003), Status:  Passed 

Version info

ToolVersion
MES Test ManagerMTest v 6.4
MATLAB9.5 (R2018b)
Simulink9.2 (R2018b)
Stateflow9.2 (R2018b)
Operating SystemMicrosoft Windows 7 Professional Version 6.1 (Build 7601: Service Pack 1)

1 TSeq003: curved rev    [Contents]

TestSeq ID: TS_GLB_POS_003
Reqs Covered: REQ_GLB_POS_01
REQ_GLB_POS_02
REQ_GLB_POS_03
Work Status: reviewed
Description: Motivation
Test the claculation for driving a curvy way rev (gyroAngleRad ~= 0).

Test description
For constant velocity the encoder value is set to a negative constant, then wait a short time. Addidtionly the gyro input is ramped up and down.

Expected Result
The global x position should ramp down. The y position shall change now too.
TestGroup
Initialization: 
// Initialization of input signals (this test group)
gyroAngleRad = 0;
driveEncoder = 0;


// Default definition of parameters
// p MOTOR_DRIVE_TRANSMISSION_RATIO = 0.454545;
// p WHEEL_SIZE_DEG = 0.06;
p DEG2RAD = pi/180;
TestSequence
Initialization: 
    Action:  [+0.1s] // initialize
driveEncoder = -50;
[+4s] // drive rev for 4 sec
driveEncoder = ramp(-42);
gyroAngleRad = ramp(-45*DEG2RAD);
[+3s] // slow down and steer left
gyroAngleRad = ramp(360*DEG2RAD);
[+12s] // steer right with const. velocity
driveEncoder = ramp(-50);
[+2s]

1.1 Simulation Parameters and Testbed

Start Time Stop Time Cycle Time Solver
021.10.05FixedStepDiscrete

 

Simulation Mode Simulation Time Testbed Name Testbed Path Testbed Date
ECModelFloat 29-Oct-2019 09:41:14 Frame_Glob_ec Test/Test_GlobalPosition_demo_ec/GlobalPosition/ 29-Oct-2019 09:41:27
ECModelFixed 29-Oct-2019 09:41:36 Frame_Glob_ec Test/Test_GlobalPosition_demo_ec/GlobalPosition/ 29-Oct-2019 09:41:27

2 Test Input (Test Data)    [Contents]

   [Go to Parameter Report of Test Object]

Input SignalConstant Signal
driveEncoder  no
gyroAngleRad  no
Signal driveEncoder / GlobalPosition_Test001_TSeq003 Signal gyroAngleRad / GlobalPosition_Test001_TSeq003

3 Test Output (Test Results)    [Contents]

Output SignalConstant SignalDifference
posGlobal_1  nono
posGlobal_2  nono
Signal posGlobal_1 / GlobalPosition_Test001_TSeq003 Signal posGlobal_2 / GlobalPosition_Test001_TSeq003

4 Local Output Data (Internal Test Results)    [Contents]

Local SignalConstant SignalDifference
prevXPosGlobal  nono
prevYPosGlobal  nono
s_k  nono
x_k  nono
y_k  nono
Signal prevXPosGlobal / GlobalPosition_Test001_TSeq003 Signal prevYPosGlobal / GlobalPosition_Test001_TSeq003 Signal s_k / GlobalPosition_Test001_TSeq003 Signal x_k / GlobalPosition_Test001_TSeq003 Signal y_k / GlobalPosition_Test001_TSeq003

5 Test Release (GlobalPosition_Test001_TSeq003), Status:  Passed     [Contents]

Evaluation Result: Passed 
automatically evaluated by:MTest Demo User    (29-Oct-2019 09:41:47)
Assessment Results: Assessment evaluation in sim mode Global:  Passed 

   Passed  mars_REQ_GLB_POS_011: OK.
   Passed  mars_REQ_GLB_POS_012: OK.
   Passed  mars_REQ_GLB_POS_021: OK.
   Passed  mars_REQ_GLB_POS_022: OK.
   Passed  mars_REQ_GLB_POS_03: OK.
Back2Back Results: Back2Back signal comparison of sim mode SiL (EC)/out vs. MiL (EC)/out:  Passed 

   Passed  posGlobal_1: OK
   Passed  posGlobal_2: OK