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Test baro downsampling

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This commit is contained in:
kamilritz
2020-01-21 10:09:48 +03:00
committed by Roman Bapst
parent b51ea4fe39
commit 29cf7884c3
3 changed files with 79 additions and 107 deletions
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test/CMakeLists.txt
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@@ -39,6 +39,7 @@ set(SRCS
main.cpp
test_EKF_basics.cpp
test_EKF_ringbuffer.cpp
test_EKF_measurementSampling.cpp
test_EKF_imuSampling.cpp
test_AlphaFilter.cpp
test_EKF_fusionLogic.cpp
test/test_EKF_measurementSampling.cpp
+78
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@@ -0,0 +1,78 @@
/****************************************************************************
*
* Copyright (c) 2019 ECL Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <math.h>
#include "EKF/ekf.h"
class EkfMeasurementSamplingTest : public ::testing::Test
{
public:
EkfMeasurementSamplingTest(): ::testing::Test(),
_ekf{std::make_shared<Ekf>()}{};
std::shared_ptr<Ekf> _ekf;
void SetUp() override
{
_ekf->init(0);
}
};
TEST_F(EkfMeasurementSamplingTest, baroDownSampling)
{
// Need to send imu samples to initialise
imuSample imu_sample;
// WHEN: baro data = {1, -1 , 1, -1, ...} being set at high rate
int baro_rate_Hz = 10000;
uint64_t time = 0;
float baro_data = 1.0f;
for(int i = 0; i < 2 * baro_rate_Hz; i++)
{
if(i % 100 == 0)
{
// send imu data at a 100 times lower rate
imu_sample.time_us = time;
_ekf->setIMUData(imu_sample);
}
_ekf->setBaroData(time, baro_data);
baro_data *= -1.0f;
time += 1000000 / baro_rate_Hz;
}
_ekf->update();
// THEN: average and buffered baro dato should be close to zero
baroSample baro_sample_from_buffer = _ekf->get_baro_sample_delayed();
EXPECT_NEAR(baro_sample_from_buffer.hgt, 0.0f, 0.01f);
}
test/test_EKF_sampling.cpp
-107
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@@ -1,107 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2019 ECL Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <math.h>
#include "EKF/ekf.h"
class EkfImuSamplingTestParametrized : public ::testing::TestWithParam<std::tuple<float,float>>
{
public:
Ekf _ekf{};
uint32_t _t_us{0};
// Setup the Ekf with synthetic measurements
void SetUp() override
{
_ekf.init(0);
}
void TearDown() override
{
}
};
TEST_P(EkfImuSamplingTestParametrized, imuSamplingAtMultipleRates)
{
// WHEN: adding imu samples at a higher rate than the update loop
// THEN: imu sample should be down sampled
// WHEN: adding imu samples at a same or lower rate than the update loop
// THEN: imu sample should reach buffer unchanged
uint32_t dt_us = std::get<0>(GetParam()) * (_ekf.FILTER_UPDATE_PERIOD_MS * 1000);
uint32_t expected_dt_us = std::get<1>(GetParam()) * (_ekf.FILTER_UPDATE_PERIOD_MS * 1000);
Vector3f ang_vel{0.0f,0.0f,0.0f};
Vector3f accel{-0.46f,0.87f,0.0f};
imuSample imu_sample;
imu_sample.delta_ang_dt = dt_us * 1.e-6f;
imu_sample.delta_ang = ang_vel * imu_sample.delta_ang_dt;
imu_sample.delta_vel_dt = dt_us * 1.e-6f;
imu_sample.delta_vel = accel * imu_sample.delta_vel_dt;
// The higher the imu rate is the more measurements we have to set before reaching the FILTER_UPDATE_PERIOD
for(int i = 0; i<(int)20/std::get<0>(GetParam()); ++i)
{
imu_sample.time_us = _t_us;
_ekf.setIMUData(imu_sample);
_t_us += dt_us;
}
// Get the imu sample that was put into the buffer
imuSample imu_sample_buffered = _ekf.get_imu_sample_delayed();
EXPECT_NEAR(expected_dt_us / 1e6f, imu_sample_buffered.delta_ang_dt, 1e-5f);
EXPECT_NEAR(expected_dt_us / 1e6f, imu_sample_buffered.delta_vel_dt, 1e-5f);
// WHEN: downsampling the imu measurement
// THEN: the delta vel should be accumulated correctly
EXPECT_NEAR(ang_vel(0), imu_sample_buffered.delta_ang(0)/imu_sample_buffered.delta_ang_dt, 1e-3f);
EXPECT_NEAR(ang_vel(1), imu_sample_buffered.delta_ang(1)/imu_sample_buffered.delta_ang_dt, 1e-3f);
EXPECT_NEAR(ang_vel(2), imu_sample_buffered.delta_ang(2)/imu_sample_buffered.delta_ang_dt, 1e-3f);
EXPECT_NEAR(accel(0), imu_sample_buffered.delta_vel(0)/imu_sample_buffered.delta_vel_dt, 1e-3f);
EXPECT_NEAR(accel(1), imu_sample_buffered.delta_vel(1)/imu_sample_buffered.delta_vel_dt, 1e-3f);
EXPECT_NEAR(accel(2), imu_sample_buffered.delta_vel(2)/imu_sample_buffered.delta_vel_dt, 1e-3f);
}
INSTANTIATE_TEST_CASE_P(imuSamplingAtMultipleRates,
EkfImuSamplingTestParametrized,
::testing::Values(
std::make_tuple<float,float>(1.0f,1.0f),
std::make_tuple<float,float>(1.6f,1.6f),
std::make_tuple<float,float>(0.333f,1.0f)
));