fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-13 13:17:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ECL Unit Test Clean Up

Browse Source
This commit is contained in:
kamilritz
2019-12-12 18:39:20 +01:00
committed by Mathieu Bresciani
parent 6b25dbd6c7
commit 2d2edd90e3
16 changed files with 548 additions and 179 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/test_EKF_basics.cpp
+8 -8
View File
@@ -34,9 +34,8 @@
#include <gtest/gtest.h>
#include <math.h>
#include "EKF/ekf.h"
#include "SensorSimulator.h"
#include "SensorSimulator/SensorSimulator.h"
using namespace simulator;
class EkfInitializationTest : public ::testing::Test {
public:
@@ -54,7 +53,7 @@ class EkfInitializationTest : public ::testing::Test {
_ekf->init(0);
_sensor_simulator = new SensorSimulator(_ekf);
_sensor_simulator->update_with_const_sensors(_init_duration_us);
_sensor_simulator->run(_init_duration_us);
}
// Use this method to clean up any memory, network etc. after each test
@@ -111,7 +110,7 @@ TEST_F(EkfInitializationTest, convergesToZero)
{
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// WHEN: Added more defautl sensor measurements
_sensor_simulator->update_with_const_sensors(4000000); // for further 4s
_sensor_simulator->run(4000000); // for further 4s
float converged_pos[3];
float converged_vel[3];
@@ -137,8 +136,8 @@ TEST_F(EkfInitializationTest, gpsFusion)
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec
_sensor_simulator->setGpsFusionTrue();
_sensor_simulator->update_with_const_sensors(11000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}); // for further 3s
_sensor_simulator->startGps();
_sensor_simulator->run(11000000); // for further 3s
// THEN: EKF should fuse GPS, but no other position sensor
filter_control_status_u control_status;
@@ -176,8 +175,9 @@ TEST_F(EkfInitializationTest, accleBiasEstimation)
// WHEN: Added more sensor measurements with accel bias and gps measurements
Vector3f accel_bias = {0.0f,0.0f,0.1f};
_sensor_simulator->setGpsFusionTrue();
_sensor_simulator->update_with_const_sensors(10000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}+accel_bias); // for further 10s
_sensor_simulator->startGps();
_sensor_simulator->setImuBias(accel_bias, Vector3f{0.0f,0.0f,0.0f});
_sensor_simulator->run(10000000);
float converged_pos[3];
float converged_vel[3];