Marine PID
Simple correctness tests for pMarinePIDV22 output behavior. These cases keep the mission to one MOOS community and verify rudder, thrust, elevator, override, stale-input, yaw-source, and debug publication paths.
Stem Mission
The stem mission runs one shoreside MOOS community with scripted desired/nav mail and pMarinePIDV22 using suffixed outputs. It deliberately avoids a simulated vehicle so the cases can grade the PID app's direct actuator contract.
Examples
This unit harness uses variable-level PID evidence instead of pMarineViewer captures because it intentionally checks pMarinePIDV22 input/output behavior before adding vehicle dynamics. The visuals call out the evidence that makes each case pass.
Case Matrix
rudder_starboard_pass
Requests heading 90 from NAV_HEADING=0 with desired speed 2, testing the positive-rudder course correction; passes when DESIRED_RUDDER_PID>1 and 39<=DESIRED_THRUST_PID<=41.
rudder_port_pass
Requests heading 270 from NAV_HEADING=0 with desired speed 2, testing the negative-rudder course correction; passes when DESIRED_RUDDER_PID<-1 and 39<=DESIRED_THRUST_PID<=41.
heading_wrap_pass
Requests heading 5 from NAV_HEADING=355, testing the positive 10-degree path across north instead of a 350-degree turn; passes when 9.5<=DESIRED_RUDDER_PID<=10.5 and 39<=DESIRED_THRUST_PID<=41.
speed_factor_update_pass
Posts SPEED_FACTOR=10 before requesting speed 3 with no heading error, testing runtime factor-based thrust scaling; passes when rudder remains within [-0.1,0.1] and thrust is in [29,31].
speed_pid_control_pass
Configures speed_factor=0 with desired speed 2 and NAV_SPEED=0, selecting the speed PID instead of direct factor scaling; passes when positive rudder is produced and thrust reaches the configured [99,100] cap band.
max_thrust_limit_pass
Configures speed_factor=50 and maxthrust=60 for a speed demand that would otherwise produce thrust 100, testing the configured thrust limit; passes when rudder is positive and thrust is in [59,60].
depth_elevator_pass
Enables depth control with desired depth 6, NAV_DEPTH=5, and NAV_PITCH=0, testing the depth-to-pitch and pitch-to-elevator cascade; passes when rudder is positive, thrust is in [39,41], and elevator is in [11.3,11.7].
manual_override_zero_pass
Establishes nonzero PID inputs, then posts MOOS_MANUAL_OVERRIDE=true, testing the normal override input; passes when rudder and thrust are each within [-0.1,0.1] and PID_HAS_CONTROL=false.
stale_nav_pass
Sets the nav tardy threshold to one second, keeps desired heading, desired speed, and nav heading fresh, and lets only NAV_SPEED expire; passes after first proving DESIRED_RUDDER_PID>1 and thrust in [39,41], then requiring both outputs within [-0.1,0.1] and a PID_STALE publication.
nav_yaw_used_pass
Omits NAV_HEADING and posts NAV_YAW=-1.5708 with desired heading 0, testing conversion from yaw radians to heading; passes when rudder is negative and thrust is in [39,41].
ignore_nav_yaw_pass
Posts conflicting NAV_YAW=-1.5708 and NAV_HEADING=0 with ignore_nav_yaw=true, testing that heading mail remains authoritative; passes when rudder is positive and thrust is in [39,41].
heading_debug_saturation_pass
Enables heading_debug, requests heading 180 from 0, and sets maxrudder=10; passes when PID_HDG_DEBUG publishes while rudder is saturated in [-10,-9] and thrust is in [39,41], with the diagnostic's desired, current, error, and rudder fields retained in the result.
speed_zero_allstop_pass
Requests DESIRED_SPEED=0 while retaining a 90-degree heading error, testing the zero-speed all-stop branch; passes when rudder and thrust are each within [-0.1,0.1] and PID_HAS_CONTROL=true.
speed_negative_allstop_pass
Requests DESIRED_SPEED=-1 while retaining a 90-degree heading error, testing clipping of a negative speed request to all-stop; passes when rudder and thrust are each within [-0.1,0.1] and PID_HAS_CONTROL=true.
output_suffix_alt_pass
Configures output_suffix=_ALT, requiring DESIRED_RUDDER_ALT>1 and 39<=DESIRED_THRUST_ALT<=41 while failing on any unsuffixed DESIRED_RUDDER or DESIRED_THRUST publication.
manual_overide_alias_zero_pass
Establishes nonzero PID inputs, then posts the legacy misspelled MOOS_MANUAL_OVERIDE=true, testing compatibility with that alias; passes when rudder and thrust are each within [-0.1,0.1] and PID_HAS_CONTROL=false.
override_release_needs_fresh_mail_pass
First proves starboard control with rudder above 1 and thrust in [39,41], then posts a port command while override is active and requires zero outputs with PID_HAS_CONTROL=false; after release without fresh mail, it passes only while outputs remain zero even though PID_HAS_CONTROL=true.
override_recover_fresh_mail_pass
First proves port control with rudder below -1 and thrust in [19,21], then requires zero outputs with PID_HAS_CONTROL=false during override; after release and a fresh starboard command, it passes on rudder above 1, thrust in [39,41], and PID_HAS_CONTROL=true.
stale_helm_pass
Sets the helm tardy threshold to one second, leaves desired heading and speed at their one-second values, and refreshes nav mail at five seconds, isolating stale helm input; passes when rudder and thrust are within [-0.1,0.1] and PID_STALE is present.
stale_recover_pass
First proves port control with rudder below -1 and thrust in [19,21], then requires a PID_STALE publication and zero outputs after every helm/nav input expires; after all four inputs are refreshed with a starboard command, it passes on rudder above 1, thrust in [39,41], and PID_HAS_CONTROL=true.
depth_negative_elevator_pass
Enables depth control with desired depth 5, NAV_DEPTH=10, and zero pitch, testing the opposite depth-error sign; passes when rudder is positive, thrust is in [39,41], and DESIRED_ELEVATOR_PID<-1.
depth_debug_pass
Enables depth_debug with desired depth 10, NAV_DEPTH=5, and zero pitch, testing depth diagnostic publication during elevator control; passes when DESIRED_ELEVATOR_PID>1 and PID_DEP_DEBUG is present.
max_elevator_limit_pass
Enables depth control with a five-meter depth error and maxelevator=5, testing elevator saturation; passes when DESIRED_ELEVATOR_PID is in [4.9,5.0].
speed_debug_pass
Enables speed_debug with desired speed 2 and NAV_SPEED=0, testing speed diagnostic publication during factor-based thrust control; passes when thrust is in [39,41] and PID_SPD_DEBUG is present.
nav_heading_after_yaw_pass
Posts NAV_YAW=-1.5708, then posts NAV_HEADING=0 half a second later for desired heading 90, testing that later heading mail replaces the yaw-derived value; passes when rudder is positive and thrust is in [39,41].
simulation_mode_fail
Configures simulation=true with otherwise valid steering and speed inputs, preserving a known bug in which the app claims control without actuator output; the harness passes only while rudder and thrust remain within [-0.1,0.1] and PID_HAS_CONTROL=true.
thrust_cap_runtime_fail
Posts PID_THRUST_CAP=50 before a factor-based demand of 100, preserving a known bug in which the runtime cap is ignored; the harness passes only while rudder is positive and thrust remains in [99,100].
heading_wrap_negative_pass
Requests heading 355 from NAV_HEADING=5, testing the negative 10-degree path across north; passes when rudder is between -20 and -1 and thrust is in [39,41].
nav_heading_normalize_pass
Posts NAV_HEADING=-90 with desired heading 0, testing normalization of an out-of-range heading before error calculation; passes when rudder is between 80 and 100 and thrust is in [39,41].
runtime_speed_factor_zero_pid_pass
Posts SPEED_FACTOR=0 before requesting speed 2 from NAV_SPEED=0, testing the runtime switch from factor mapping to speed PID control; passes when rudder is positive and thrust is in [99,100].
runtime_speed_factor_negative_pass
Posts SPEED_FACTOR=-10 before requesting speed 2, exercising the accepted negative-factor path and its zero-clipped output; passes when rudder and thrust are each within [-0.1,0.1] and PID_HAS_CONTROL=true.
missing_desired_speed_zero_pass
Supplies desired heading and both nav inputs but never posts DESIRED_SPEED, testing the initial desired-speed gate; passes when rudder and thrust remain within [-0.1,0.1] and PID_HAS_CONTROL=true.
missing_nav_speed_zero_pass
Supplies desired heading, desired speed, and nav heading but never posts NAV_SPEED, testing the initial nav-speed gate; passes when rudder and thrust remain within [-0.1,0.1] and PID_HAS_CONTROL=true.
depth_missing_pitch_zero_pass
Enables depth control and supplies every normal input except NAV_PITCH, testing the depth-mode pitch gate; passes when rudder, thrust, and elevator remain within [-0.1,0.1] and PID_HAS_CONTROL=true.