Test baro downsampling

2026-10-22 01:13:34 +08:00 · 2020-01-21 10:09:48 +03:00
parent b51ea4fe39
commit 29cf7884c3
3 changed files with 79 additions and 107 deletions
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL Development Team. All rights reserved.
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+
+#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);
+}