fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 17:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

POSIX: ported systemcmds/tests

Browse Source 
Most of the systemcmds tests run in the posix build. The UART tests
fail for me as I do not have a UART connected.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-06-19 11:10:33 -07:00
parent 9c7450248f
commit 1e46f44123
30 changed files with 285 additions and 238 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/systemcmds/tests/test_mathlib.cpp
+20 -19
View File
@@ -37,6 +37,7 @@
* Mathlib test
*/
#include <px4_log.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
@@ -48,14 +49,14 @@
#include "tests.h"
#define TEST_OP(_title, _op) { unsigned int n = 60000; hrt_abstime t0, t1; t0 = hrt_absolute_time(); for (unsigned int j = 0; j < n; j++) { _op; }; t1 = hrt_absolute_time(); warnx(_title ": %.6fus", (double)(t1 - t0) / n); }
#define TEST_OP(_title, _op) { unsigned int n = 60000; hrt_abstime t0, t1; t0 = hrt_absolute_time(); for (unsigned int j = 0; j < n; j++) { _op; }; t1 = hrt_absolute_time(); PX4_INFO(_title ": %.6fus", (double)(t1 - t0) / n); }
using namespace math;
int test_mathlib(int argc, char *argv[])
{
int rc = 0;
warnx("testing mathlib");
PX4_INFO("testing mathlib");
{
Vector<2> v;
@@ -158,7 +159,7 @@ int test_mathlib(int argc, char *argv[])
}
{
warnx("Nonsymmetric matrix operations test");
PX4_INFO("Nonsymmetric matrix operations test");
// test nonsymmetric +, -, +=, -=
float data1[2][3] = {{1, 2, 3}, {4, 5, 6}};
@@ -170,7 +171,7 @@ int test_mathlib(int argc, char *argv[])
Matrix<2, 3> m3(data3);
if (m1 + m2 != m3) {
warnx("Matrix<2, 3> + Matrix<2, 3> failed!");
PX4_ERR("Matrix<2, 3> + Matrix<2, 3> failed!");
(m1 + m2).print();
printf("!=\n");
m3.print();
@@ -178,7 +179,7 @@ int test_mathlib(int argc, char *argv[])
}
if (m3 - m2 != m1) {
warnx("Matrix<2, 3> - Matrix<2, 3> failed!");
PX4_ERR("Matrix<2, 3> - Matrix<2, 3> failed!");
(m3 - m2).print();
printf("!=\n");
m1.print();
@@ -188,7 +189,7 @@ int test_mathlib(int argc, char *argv[])
m1 += m2;
if (m1 != m3) {
warnx("Matrix<2, 3> += Matrix<2, 3> failed!");
PX4_ERR("Matrix<2, 3> += Matrix<2, 3> failed!");
m1.print();
printf("!=\n");
m3.print();
@@ -199,7 +200,7 @@ int test_mathlib(int argc, char *argv[])
Matrix<2, 3> m1_orig(data1);
if (m1 != m1_orig) {
warnx("Matrix<2, 3> -= Matrix<2, 3> failed!");
PX4_ERR("Matrix<2, 3> -= Matrix<2, 3> failed!");
m1.print();
printf("!=\n");
m1_orig.print();
@@ -216,7 +217,7 @@ int test_mathlib(int argc, char *argv[])
float diff = 0.1f;
float tol = 0.00001f;
warnx("Quaternion transformation methods test.");
PX4_INFO("Quaternion transformation methods test.");
for (float roll = -M_PI_F; roll <= M_PI_F; roll += diff) {
for (float pitch = -M_PI_2_F; pitch <= M_PI_2_F; pitch += diff) {
@@ -228,7 +229,7 @@ int test_mathlib(int argc, char *argv[])
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (fabsf(R_orig.data[i][j] - R.data[i][j]) > 0.00001f) {
warnx("Quaternion method 'from_dcm' or 'to_dcm' outside tolerance!");
PX4_WARN("Quaternion method 'from_dcm' or 'to_dcm' outside tolerance!");
rc = 1;
}
}
@@ -245,7 +246,7 @@ int test_mathlib(int argc, char *argv[])
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_dcm()' outside tolerance!");
PX4_WARN("Quaternion method 'from_dcm()' outside tolerance!");
rc = 1;
}
}
@@ -255,7 +256,7 @@ int test_mathlib(int argc, char *argv[])
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
PX4_WARN("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}
}
@@ -265,7 +266,7 @@ int test_mathlib(int argc, char *argv[])
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
PX4_WARN("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}
}
@@ -275,7 +276,7 @@ int test_mathlib(int argc, char *argv[])
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
PX4_WARN("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}
}
@@ -292,7 +293,7 @@ int test_mathlib(int argc, char *argv[])
float diff = 0.1f;
float tol = 0.00001f;
warnx("Quaternion vector rotation method test.");
PX4_INFO("Quaternion vector rotation method test.");
for (float roll = -M_PI_F; roll <= M_PI_F; roll += diff) {
for (float pitch = -M_PI_2_F; pitch <= M_PI_2_F; pitch += diff) {
@@ -304,7 +305,7 @@ int test_mathlib(int argc, char *argv[])
for (int i = 0; i < 3; i++) {
if (fabsf(vector_r(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
PX4_WARN("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
@@ -320,7 +321,7 @@ int test_mathlib(int argc, char *argv[])
for (unsigned i = 0; i < 3; i++) {
if (fabsf(vector_true(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
PX4_WARN("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
@@ -331,7 +332,7 @@ int test_mathlib(int argc, char *argv[])
for (unsigned i = 0; i < 3; i++) {
if (fabsf(vector_true(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
PX4_WARN("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
@@ -342,7 +343,7 @@ int test_mathlib(int argc, char *argv[])
for (unsigned i = 0; i < 3; i++) {
if (fabsf(vector_true(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
PX4_WARN("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
@@ -353,7 +354,7 @@ int test_mathlib(int argc, char *argv[])
for (unsigned i = 0; i < 3; i++) {
if (fabsf(vector_true(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
PX4_WARN("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}