Fix autodetermined frequency in symbolic model. Add tests

Author: amacati

crazyflow/sim/symbolic.py

@@ -303,10 +303,10 @@ def symbolic_from_sim(sim: Sim) -> SymbolicModel:
     """
     match sim.control:
         case Control.attitude:
-            return symbolic_attitude(1 / sim.freq)
+            return symbolic_attitude(1 / sim.control_freq)
         case Control.thrust:
             mass, J = sim.default_data.params.mass[0, 0], sim.default_data.params.J[0, 0]
-            return symbolic_thrust(mass, J, 1 / sim.freq)
+            return symbolic_thrust(mass, J, 1 / sim.control_freq)
         case _:
             raise ValueError(f"Unsupported control type for symbolic model: {sim.control}")
 

tests/integration/test_symbolic.py

@@ -19,8 +19,9 @@ def sim_state2symbolic_state(state: SimState) -> NDArray[np.float32]:
 
 
 @pytest.mark.integration
-def test_attitude_symbolic():
-    sim = Sim(physics="sys_id")
+@pytest.mark.parametrize("freq", [500, 1000])
+def test_attitude_symbolic(freq: int):
+    sim = Sim(physics="sys_id", freq=freq)
     sym = symbolic_from_sim(sim)
 
     x0 = np.zeros(12)
@@ -67,8 +68,9 @@ def test_attitude_symbolic():
 
 
 @pytest.mark.integration
-def test_thrust_symbolic():
-    sim = Sim(physics="analytical", control="thrust")
+@pytest.mark.parametrize("freq", [500, 1000])
+def test_thrust_symbolic(freq: int):
+    sim = Sim(physics="analytical", control="thrust", freq=freq)
     sym = symbolic_from_sim(sim)
 
     x0 = np.zeros(12)