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ekf2: move EKF out of ecl
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Daniel Agar
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/****************************************************************************
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*
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* Copyright (c) 2019 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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/**
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* Test the flow fusion
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#include <gtest/gtest.h>
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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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#include "test_helper/reset_logging_checker.h"
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class EkfFlowTest : public ::testing::Test
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{
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public:
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EkfFlowTest(): ::testing::Test(),
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_ekf{std::make_shared<Ekf>()},
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_sensor_simulator(_ekf),
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_ekf_wrapper(_ekf) {};
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std::shared_ptr<Ekf> _ekf;
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SensorSimulator _sensor_simulator;
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EkfWrapper _ekf_wrapper;
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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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const float max_flow_rate = 5.f;
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const float min_ground_distance = 0.f;
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const float max_ground_distance = 50.f;
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_ekf->set_optical_flow_limits(max_flow_rate, min_ground_distance, max_ground_distance);
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_ekf->init(0);
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_sensor_simulator.runSeconds(7);
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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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void startRangeFinderFusion(float distance);
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void startZeroFlowFusion();
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void setFlowFromHorizontalVelocityAndDistance(flowSample &flow_sample, const Vector2f &simulated_horz_velocity,
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float estimated_distance_to_ground);
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};
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void EkfFlowTest::startRangeFinderFusion(float distance)
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{
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_sensor_simulator._rng.setData(distance, 100);
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_sensor_simulator._rng.setLimits(0.1f, 9.f);
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_sensor_simulator.startRangeFinder();
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}
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void EkfFlowTest::startZeroFlowFusion()
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{
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// Start fusing zero flow data
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_sensor_simulator._flow.setData(_sensor_simulator._flow.dataAtRest());
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_ekf_wrapper.enableFlowFusion();
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_sensor_simulator.startFlow();
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}
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void EkfFlowTest::setFlowFromHorizontalVelocityAndDistance(flowSample &flow_sample,
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const Vector2f &simulated_horz_velocity, float estimated_distance_to_ground)
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{
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flow_sample.flow_xy_rad =
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Vector2f(simulated_horz_velocity(1) * flow_sample.dt / estimated_distance_to_ground,
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-simulated_horz_velocity(0) * flow_sample.dt / estimated_distance_to_ground);
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}
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TEST_F(EkfFlowTest, resetToFlowVelocityInAir)
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{
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ResetLoggingChecker reset_logging_checker(_ekf);
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// WHEN: simulate being 5m above ground
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const float simulated_distance_to_ground = 5.f;
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startRangeFinderFusion(simulated_distance_to_ground);
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_ekf->set_in_air_status(true);
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_sensor_simulator.runSeconds(5.f);
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const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
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EXPECT_FLOAT_EQ(estimated_distance_to_ground, simulated_distance_to_ground);
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reset_logging_checker.capturePreResetState();
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// WHEN: start fusing flow data
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const Vector2f simulated_horz_velocity(0.5f, -0.2f);
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flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
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setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, estimated_distance_to_ground);
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_sensor_simulator._flow.setData(flow_sample);
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_ekf_wrapper.enableFlowFusion();
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_sensor_simulator.startFlow();
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// Let it reset but not fuse more measurements. We actually need to send 2
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// samples to get a reset because the first one cannot be used as the gyro
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// compensation needs to be accumulated between two samples.
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_sensor_simulator.runSeconds(0.14);
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// THEN: estimated velocity should match simulated velocity
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const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
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EXPECT_TRUE(isEqual(estimated_horz_velocity, simulated_horz_velocity))
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<< "estimated vel = " << estimated_horz_velocity(0) << ", "
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<< estimated_horz_velocity(1);
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// AND: the reset in velocity should be saved correctly
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reset_logging_checker.capturePostResetState();
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EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
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EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
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EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-9f));
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}
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TEST_F(EkfFlowTest, resetToFlowVelocityOnGround)
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{
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ResetLoggingChecker reset_logging_checker(_ekf);
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// WHEN: being on ground
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const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
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EXPECT_LT(estimated_distance_to_ground, 0.3f);
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reset_logging_checker.capturePreResetState();
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// WHEN: start fusing flow data
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flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
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flow_sample.dt = 0.f; // some sensors force dt to zero when quality is low
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flow_sample.quality = 0;
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_sensor_simulator._flow.setData(flow_sample);
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_ekf_wrapper.enableFlowFusion();
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_sensor_simulator.startFlow();
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_sensor_simulator.runSeconds(1.0);
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// THEN: estimated velocity should match simulated velocity
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const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
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EXPECT_TRUE(isEqual(estimated_horz_velocity, Vector2f(0.f, 0.f)))
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<< estimated_horz_velocity(0) << ", " << estimated_horz_velocity(1);
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// AND: the reset in velocity should be saved correctly
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reset_logging_checker.capturePostResetState();
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EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
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EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
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EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-9f));
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}
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TEST_F(EkfFlowTest, inAirConvergence)
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{
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// WHEN: simulate being 5m above ground
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const float simulated_distance_to_ground = 5.f;
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startRangeFinderFusion(simulated_distance_to_ground);
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_ekf->set_in_air_status(true);
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_sensor_simulator.runSeconds(5.f);
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const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
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// WHEN: start fusing flow data
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Vector2f simulated_horz_velocity(0.5f, -0.2f);
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flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
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setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, estimated_distance_to_ground);
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_sensor_simulator._flow.setData(flow_sample);
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_ekf_wrapper.enableFlowFusion();
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_sensor_simulator.startFlow();
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// Let it reset but not fuse more measurements. We actually need to send 2
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// samples to get a reset because the first one cannot be used as the gyro
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// compensation needs to be accumulated between two samples.
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_sensor_simulator.runSeconds(0.14);
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// THEN: estimated velocity should match simulated velocity
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Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
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EXPECT_TRUE(isEqual(estimated_horz_velocity, simulated_horz_velocity))
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<< "estimated vel = " << estimated_horz_velocity(0) << ", "
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<< estimated_horz_velocity(1);
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// AND: when the velocity changes
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simulated_horz_velocity = Vector2f(0.8f, -0.5f);
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setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, estimated_distance_to_ground);
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_sensor_simulator._flow.setData(flow_sample);
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_sensor_simulator.runSeconds(5.0);
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// THEN: estimated velocity should converge to the simulated velocity
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// This takes a bit of time because the data is inconsistent with IMU measurements
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estimated_horz_velocity = Vector2f(_ekf->getVelocity());
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EXPECT_NEAR(estimated_horz_velocity(0), simulated_horz_velocity(0), 0.05f)
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<< "estimated vel = " << estimated_horz_velocity(0);
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EXPECT_NEAR(estimated_horz_velocity(1), simulated_horz_velocity(1), 0.05f)
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<< estimated_horz_velocity(1);
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}
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TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData)
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{
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// WHEN: fusing range finder and optical flow data in air
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const float simulated_distance_to_ground = 5.f;
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startRangeFinderFusion(simulated_distance_to_ground);
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startZeroFlowFusion();
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_ekf->set_in_air_status(true);
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_sensor_simulator.runSeconds(5.f);
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// AND WHEN: there is a pure yaw rotation
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const Vector3f body_rate(0.f, 0.f, 3.14159f);
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const Vector3f flow_offset(0.15, -0.05f, 0.2f);
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_ekf_wrapper.setFlowOffset(flow_offset);
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const Vector2f simulated_horz_velocity(body_rate % flow_offset);
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flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
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setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, simulated_distance_to_ground);
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// use autopilot gyro data
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flow_sample.gyro_xyz.setAll(NAN);
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_sensor_simulator._flow.setData(flow_sample);
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_sensor_simulator._imu.setGyroData(body_rate);
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_sensor_simulator.runSeconds(10.f);
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// THEN: the flow due to the yaw rotation and the offsets is canceled
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// and the velocity estimate stays 0
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const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
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EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f)
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<< "estimated vel = " << estimated_horz_velocity(0);
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EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
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<< "estimated vel = " << estimated_horz_velocity(1);
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}
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TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData)
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{
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// WHEN: fusing range finder and optical flow data in air
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const float simulated_distance_to_ground = 5.f;
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startRangeFinderFusion(simulated_distance_to_ground);
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startZeroFlowFusion();
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_ekf->set_in_air_status(true);
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_sensor_simulator.runSeconds(5.f);
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// AND WHEN: there is a pure yaw rotation
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const Vector3f body_rate(0.f, 0.f, 3.14159f);
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const Vector3f flow_offset(-0.15, 0.05f, 0.2f);
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_ekf_wrapper.setFlowOffset(flow_offset);
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const Vector2f simulated_horz_velocity(body_rate % flow_offset);
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flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
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setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, simulated_distance_to_ground);
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// use flow sensor gyro data
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// for clarification of the sign, see definition of flowSample
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flow_sample.gyro_xyz = -body_rate * flow_sample.dt;
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_sensor_simulator._flow.setData(flow_sample);
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_sensor_simulator._imu.setGyroData(body_rate);
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_sensor_simulator.runSeconds(10.f);
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// THEN: the flow due to the yaw rotation and the offsets is canceled
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// and the velocity estimate stays 0
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const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
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EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f)
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<< "estimated vel = " << estimated_horz_velocity(0);
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EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
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<< "estimated vel = " << estimated_horz_velocity(1);
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}
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