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fix and re-enable EKF pytests

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Daniel Agar
2018-05-03 22:25:36 -04:00
parent 4dabf7a1a8
commit 3a61035ac2
21 changed files with 413 additions and 182 deletions
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EKF/tests/pytest/test_sampling.py
+16 -16
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@@ -44,14 +44,14 @@ import pytest
from hypothesis import given
from hypothesis import strategies as st
from test_utils import ecl
from test_utils import ecl_EKF
from test_utils import float_array
@pytest.mark.parametrize("dt_usec, downsampling_factor", [
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 3, 3),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 2, 2),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000, 1),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 3, 3),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 2, 2),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000, 1),
])
@given(accel_x=st.floats(-5, 5),
accel_y=st.floats(-5, 5),
@@ -71,7 +71,7 @@ def test_imu_input(dt_usec, downsampling_factor, accel_x, accel_y, accel_z):
accel_y,
accel_z]) * dt_usec / 1e6
ekf = ecl.Ekf()
ekf = ecl_EKF.Ekf()
# Run to accumulate buffer (choose sample after downsampling)
for _ in range(20 * downsampling_factor):
time_usec += dt_usec
@@ -94,14 +94,14 @@ def test_imu_input(dt_usec, downsampling_factor, accel_x, accel_y, accel_z):
@pytest.mark.parametrize("dt_usec, expected_dt_usec", [
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 3,
ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 2,
ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000,
ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 * 2,
ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 * 2),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 3,
ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 2,
ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000,
ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 * 2,
ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 * 2),
(500 * 1000,
500 * 1000)
])
@@ -115,7 +115,7 @@ def test_imu_sampling(dt_usec, expected_dt_usec):
time_usec = 0
delta_ang = float_array([0, 0, 0])
delta_vel = float_array([0, 0, 0])
ekf = ecl.Ekf()
ekf = ecl_EKF.Ekf()
for _ in range(100):
time_usec += dt_usec
ekf.set_imu_data(time_usec,
@@ -126,9 +126,9 @@ def test_imu_sampling(dt_usec, expected_dt_usec):
imu_sample = ekf.get_imu_sample_delayed()
assert imu_sample.delta_ang_dt == pytest.approx(
expected_dt_usec / 1e6, abs=1e-6)
expected_dt_usec / 1e6, abs=1e-5)
assert imu_sample.delta_vel_dt == pytest.approx(
expected_dt_usec / 1e6, abs=1e-6)
expected_dt_usec / 1e6, abs=1e-5)
# Make sure the timestamp of the last sample is a small positive multiple
# of the period away from now
assert (time_usec - imu_sample.time_us) >= 0