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ekf2: move EKF out of ecl
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Daniel Agar
@@ -0,0 +1,289 @@
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/****************************************************************************
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*
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* Copyright (c) 2019-2020 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <chrono>
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#include <gtest/gtest.h>
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#include <math.h>
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#include <memory>
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#include "EKF/ekf.h"
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#include "sensor_simulator/sensor_simulator.h"
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#include "sensor_simulator/ekf_wrapper.h"
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class EkfBasicsTest : public ::testing::Test
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{
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public:
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EkfBasicsTest():
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::testing::Test(),
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_ekf{std::make_shared<Ekf>()},
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_ekf_wrapper(_ekf),
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_sensor_simulator(_ekf)
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{
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};
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// Setup the Ekf with synthetic measurements
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void SetUp() override
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{
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_ekf->init(0);
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_sensor_simulator.runSeconds(_init_duration_s);
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}
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// Use this method to clean up any memory, network etc. after each test
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void TearDown() override
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{
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}
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std::shared_ptr<Ekf> _ekf {nullptr};
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EkfWrapper _ekf_wrapper;
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SensorSimulator _sensor_simulator;
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// Duration of initalization with only providing baro,mag and IMU
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const uint32_t _init_duration_s{4};
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protected:
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double _latitude {0.0};
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double _longitude {0.0};
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float _altitude {0.f};
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double _latitude_new {0.0};
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double _longitude_new {0.0};
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float _altitude_new {0.f};
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uint64_t _origin_time = 0;
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private:
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};
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TEST_F(EkfBasicsTest, tiltAlign)
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{
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// GIVEN: reasonable static sensor data for some duration
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// THEN: EKF should tilt align
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EXPECT_TRUE(_ekf->attitude_valid());
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}
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TEST_F(EkfBasicsTest, initialControlMode)
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{
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// GIVEN: reasonable static sensor data for some duration
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// THEN: EKF control status should be reasonable
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EXPECT_EQ(1, (int) _ekf->control_status_flags().tilt_align);
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EXPECT_EQ(1, (int) _ekf->control_status_flags().yaw_align);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().gps);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow);
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EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().wind);
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EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_hgt);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_hgt);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_pos);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_yaw);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_hgt);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().fuse_beta);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_field_disturbed);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().fixed_wing);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z);
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}
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TEST_F(EkfBasicsTest, convergesToZero)
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{
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// GIVEN: initialized EKF with default IMU, baro and mag input
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_sensor_simulator.runSeconds(4);
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const Vector3f pos = _ekf->getPosition();
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const Vector3f vel = _ekf->getVelocity();
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const Vector3f accel_bias = _ekf->getAccelBias();
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const Vector3f gyro_bias = _ekf->getGyroBias();
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const Vector3f ref{0.0f, 0.0f, 0.0f};
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// THEN: EKF should stay or converge to zero
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EXPECT_TRUE(matrix::isEqual(pos, ref, 0.001f));
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EXPECT_TRUE(matrix::isEqual(vel, ref, 0.001f));
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EXPECT_TRUE(matrix::isEqual(accel_bias, ref, 0.001f));
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EXPECT_TRUE(matrix::isEqual(gyro_bias, ref, 0.001f));
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}
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TEST_F(EkfBasicsTest, gpsFusion)
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{
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// GIVEN: initialized EKF with default IMU, baro and mag input for
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// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec
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_sensor_simulator.startGps();
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_sensor_simulator.runSeconds(11);
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// THEN: EKF should fuse GPS, but no other position sensor
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EXPECT_EQ(1, (int) _ekf->control_status_flags().tilt_align);
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EXPECT_EQ(1, (int) _ekf->control_status_flags().yaw_align);
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EXPECT_EQ(1, (int) _ekf->control_status_flags().gps);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow);
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EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().wind);
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EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_hgt);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_hgt);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_pos);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_yaw);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_hgt);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().fuse_beta);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_field_disturbed);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().fixed_wing);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z);
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}
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TEST_F(EkfBasicsTest, accelBiasEstimation)
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{
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// GIVEN: initialized EKF with default IMU, baro and mag input
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// WHEN: Added more sensor measurements with accel bias and gps measurements
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const Vector3f accel_bias_sim = {0.0f, 0.0f, 0.1f};
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_sensor_simulator.startGps();
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_sensor_simulator.setImuBias(accel_bias_sim, Vector3f(0.0f, 0.0f, 0.0f));
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_ekf->set_min_required_gps_health_time(1e6);
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_sensor_simulator.runSeconds(30);
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const Vector3f pos = _ekf->getPosition();
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const Vector3f vel = _ekf->getVelocity();
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const Vector3f accel_bias = _ekf->getAccelBias();
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const Vector3f gyro_bias = _ekf->getGyroBias();
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const Vector3f zero = {0.0f, 0.0f, 0.0f};
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// THEN: EKF should stay or converge to zero
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EXPECT_TRUE(matrix::isEqual(pos, zero, 0.05f))
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<< "pos = " << pos(0) << ", " << pos(1) << ", " << pos(2);
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EXPECT_TRUE(matrix::isEqual(vel, zero, 0.02f))
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<< "vel = " << vel(0) << ", " << vel(1) << ", " << vel(2);
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EXPECT_TRUE(matrix::isEqual(accel_bias, accel_bias_sim, 0.01f))
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<< "accel_bias = " << accel_bias(0) << ", " << accel_bias(1) << ", " << accel_bias(2);
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EXPECT_TRUE(matrix::isEqual(gyro_bias, zero, 0.001f))
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<< "gyro_bias = " << gyro_bias(0) << ", " << gyro_bias(1) << ", " << gyro_bias(2);
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}
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TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
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{
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_latitude_new = 15.0000005;
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_longitude_new = 115.0000005;
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_altitude_new = 100.0;
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_sensor_simulator.startGps();
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_ekf->set_min_required_gps_health_time(1e6);
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_sensor_simulator.runSeconds(1);
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_sensor_simulator.setGpsLatitude(_latitude_new);
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_sensor_simulator.setGpsLongitude(_longitude_new);
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_sensor_simulator.setGpsAltitude(_altitude_new);
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_sensor_simulator.runSeconds(2);
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_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude);
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EXPECT_DOUBLE_EQ(_latitude, _latitude_new);
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EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
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EXPECT_NEAR(_altitude, _altitude_new, 0.01f);
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_latitude_new = -15.0000005;
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_longitude_new = -115.0000005;
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_altitude_new = 1500.0;
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_ekf->setEkfGlobalOrigin(_latitude_new, _longitude_new, _altitude_new);
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_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude);
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EXPECT_DOUBLE_EQ(_latitude, _latitude_new);
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EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
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EXPECT_FLOAT_EQ(_altitude, _altitude_new);
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float hpos = 0.f;
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float vpos = 0.f;
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float hvel = 0.f;
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float vvel = 0.f;
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// After the change of origin, the pos and vel innovations should stay small
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_ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos);
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EXPECT_NEAR(hpos, 0.f, 0.05f);
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EXPECT_NEAR(vpos, 0.f, 0.05f);
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EXPECT_NEAR(hvel, 0.f, 0.02f);
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EXPECT_NEAR(vvel, 0.f, 0.02f);
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}
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TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized)
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{
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_ekf->getEkfGlobalOrigin(_origin_time, _latitude_new, _longitude_new, _altitude_new);
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EXPECT_DOUBLE_EQ(_latitude, _latitude_new);
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EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
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EXPECT_FLOAT_EQ(_altitude, _altitude_new);
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_latitude_new = 45.0000005;
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_longitude_new = 111.0000005;
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_altitude_new = 1500.0;
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_ekf->setEkfGlobalOrigin(_latitude_new, _longitude_new, _altitude_new);
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_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude);
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EXPECT_DOUBLE_EQ(_latitude, _latitude_new);
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EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
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EXPECT_FLOAT_EQ(_altitude, _altitude_new);
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float hpos = 0.f;
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float vpos = 0.f;
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float hvel = 0.f;
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float vvel = 0.f;
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// After the change of origin, the pos and vel innovations should stay small
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_ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos);
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EXPECT_NEAR(hpos, 0.f, 0.05f);
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EXPECT_NEAR(vpos, 0.f, 0.05f);
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EXPECT_NEAR(hvel, 0.f, 0.02f);
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EXPECT_NEAR(vvel, 0.f, 0.02f);
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}
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// TODO: Add sampling tests
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