ekf2: move EKF out of ecl

2026-07-18 02:00:36 +08:00 · 2021-07-14 18:29:43 -04:00
parent 883624d915
commit 2cf66a5d8f
216 changed files with 1369 additions and 2399 deletions
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   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 <memory>
+#include "EKF/ekf.h"
+#include "sensor_simulator/sensor_simulator.h"
+#include "sensor_simulator/ekf_wrapper.h"
+#include "sensor_simulator/ekf_logger.h"
+
+class EkfReplayTest : public ::testing::Test
+{
+public:
+	EkfReplayTest(): ::testing::Test(),
+		_ekf{std::make_shared<Ekf>()},
+		_sensor_simulator(_ekf),
+		_ekf_wrapper(_ekf),
+		_ekf_logger(_ekf) {};
+
+	std::shared_ptr<Ekf> _ekf;
+	SensorSimulator _sensor_simulator;
+	EkfWrapper _ekf_wrapper;
+	EkfLogger _ekf_logger;
+};
+
+TEST_F(EkfReplayTest, irisGps)
+{
+	_sensor_simulator.loadSensorDataFromFile(TEST_DATA_PATH"/replay_data/iris_gps.csv");
+	_ekf_logger.setFilePath(TEST_DATA_PATH"/change_indication/iris_gps.csv");
+
+	// Start simulation and enable fusion of additional sensor types here
+	// By default the IMU, Baro and Mag sensor simulators are already running
+	_sensor_simulator.startGps();
+	_ekf_wrapper.enableGpsFusion();
+
+	uint8_t logging_rate_hz = 10;
+
+	for (int i = 0; i < 35 * logging_rate_hz; ++i) {
+		_sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz);
+		_ekf_logger.writeStateToFile();
+	}
+}
+
+TEST_F(EkfReplayTest, ekfGsfReset)
+{
+	_sensor_simulator.loadSensorDataFromFile(TEST_DATA_PATH"/replay_data/ekf_gsf_reset.csv");
+	_ekf_logger.setFilePath(TEST_DATA_PATH"/change_indication/ekf_gsf_reset.csv");
+
+	// Start simulation and enable fusion of additional sensor types here
+	// By default the IMU, Baro and Mag sensor simulators are already running
+	_sensor_simulator.startGps();
+	_ekf_wrapper.enableGpsFusion();
+	auto params = _ekf->getParamHandle();
+	params->gps_vel_innov_gate = 1.f;
+	params->gps_pos_innov_gate = 1.f;
+
+	uint8_t logging_rate_hz = 10;
+
+	for (int i = 0; i < 39 * logging_rate_hz; ++i) {
+		_sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz);
+		_ekf_logger.writeStateToFile();
+	}
+}