run_seconds

test/CMakeLists.txt

@@ -44,6 +44,6 @@ set(SRCS
    )
 add_executable(ECL_GTESTS ${SRCS})
 
-target_link_libraries(ECL_GTESTS gtest_main ecl_EKF SENSOR_SIMULATOR)
+target_link_libraries(ECL_GTESTS gtest_main ecl_EKF ecl_sensor_sim)
 
 add_test(NAME ECL_GTESTS COMMAND ECL_GTESTS)

test/sensor_simulator/CMakeLists.txt

@@ -41,5 +41,5 @@ set(SRCS
 	gps.cpp
    )
 
-add_library(SENSOR_SIMULATOR ${SRCS})
-target_link_libraries(SENSOR_SIMULATOR ecl_EKF)
+add_library(ecl_sensor_sim ${SRCS})
+target_link_libraries(ecl_sensor_sim ecl_EKF)

test/sensor_simulator/baro.h

@@ -55,7 +55,7 @@ public:
 private:
 	float _baro_data;
 
-	void send(uint32_t time);
+	void send(uint32_t time) override;
 
 };
 

test/sensor_simulator/gps.h

@@ -55,7 +55,7 @@ public:
 private:
 	gps_message _gps_data;
 
-	void send(uint32_t time);
+	void send(uint32_t time) override;
 
 };
 

test/sensor_simulator/imu.h

@@ -58,7 +58,7 @@ private:
 	Vector3f _accel_data;
 	Vector3f _gyro_data;
 
-	void send(uint32_t time);
+	void send(uint32_t time) override;
 
 };
 

test/sensor_simulator/mag.h

@@ -55,7 +55,7 @@ public:
 private:
 	Vector3f _mag_data;
 
-	void send(uint32_t time);
+	void send(uint32_t time) override;
 
 };
 

test/sensor_simulator/sensor_simulator.cpp

@@ -58,7 +58,12 @@ gps_message SensorSimulator::getDefaultGpsData()
 	return gps_data;
 }
 
-void SensorSimulator::run(uint32_t duration)
+void SensorSimulator::run_seconds(float duration_seconds)
+{
+	run_microseconds( uint32_t(duration_seconds * 1e6f) );
+}
+
+void SensorSimulator::run_microseconds(uint32_t duration)
 {
 	// simulate in 1000us steps
 	uint32_t start_time = _time;

test/sensor_simulator/sensor_simulator.h

@@ -63,7 +63,8 @@ public:
 	void setBaroRate(uint32_t rate){ _baro.setRate(rate); }
 	void setGpsRate(uint32_t rate){ _gps.setRate(rate); }
 
-	void run(uint32_t duration);
+	void run_seconds(float duration_seconds);
+	void run_microseconds(uint32_t duration);
 
 	void startGps(){ _gps.start(); }
 	void stopGps(){ _gps.stop(); }

test/test_EKF_basics.cpp

@@ -48,13 +48,13 @@ class EkfInitializationTest : public ::testing::Test {
 	SensorSimulator _sensor_simulator;
 
 	// Duration of initalization with only providing baro,mag and IMU
-	const uint32_t _init_duration_us{2000000};	// 2s
+	const uint32_t _init_duration_s{2};
 
 	// Setup the Ekf with synthetic measurements
 	void SetUp() override
 	{
 		_ekf->init(0);
-		_sensor_simulator.run(_init_duration_us);
+		_sensor_simulator.run_seconds(_init_duration_s);
 	}
 
 	// Use this method to clean up any memory, network etc. after each test
@@ -107,9 +107,8 @@ TEST_F(EkfInitializationTest, initialControlMode)
 
 TEST_F(EkfInitializationTest, convergesToZero)
 {
-	// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
-	// WHEN: Added more defautl sensor measurements
-	_sensor_simulator.run(4000000); // for further 4s
+	// GIVEN: initialized EKF with default IMU, baro and mag input
+	_sensor_simulator.run_seconds(4);
 
 	float converged_pos[3];
 	float converged_vel[3];
@@ -132,11 +131,11 @@ TEST_F(EkfInitializationTest, convergesToZero)
 
 TEST_F(EkfInitializationTest, gpsFusion)
 {
-	// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
+	// GIVEN: initialized EKF with default IMU, baro and mag input for
 	// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec
 
 	_sensor_simulator.startGps();
-	_sensor_simulator.run(11000000); // for further 3s
+	_sensor_simulator.run_seconds(11);
 
 	// THEN: EKF should fuse GPS, but no other position sensor
 	filter_control_status_u control_status;
@@ -176,7 +175,7 @@ TEST_F(EkfInitializationTest, accleBiasEstimation)
 
 	_sensor_simulator.startGps();
 	_sensor_simulator.setImuBias(accel_bias, Vector3f{0.0f,0.0f,0.0f});
-	_sensor_simulator.run(10000000);
+	_sensor_simulator.run_seconds(10);
 
 	float converged_pos[3];
 	float converged_vel[3];