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Add change indication for ekf_gsf_reset

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kamilritz 2020-08-17 18:37:57 +02:00 committed by Paul Riseborough
parent fd849e0578
commit 3ae934544f
3 changed files with 14019 additions and 1 deletions
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391
test/change_indication/ekf_gsf_reset.csv Normal file
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@ -0,0 +1,391 @@
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 15000 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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390 38785000 0.689468 0.00219861 0.00265758 -0.724308 0.301336 0.454237 0.0479217 -11.3942 -16.9333 -365.414 -1.33071e-05 -6.03616e-05 -1.07416e-05 -0.000293406 0.000290862 -0.000807498 0.211869 0.00178755 0.429338 -0.000375364 -0.000609768 0.002518 0 0 0.00116655 1.05112e-05 1.05004e-05 0.00107691 0.0213057 0.0200103 0.0381673 0.0398844 0.0392412 0.0821547 6.29897e-11 5.96774e-11 6.04042e-10 0 0 4.59297e-07 0 0 0 0 0 0 0 0
391 38885000 0.689507 0.00235908 0.00273148 -0.72427 0.308787 0.465771 0.495532 -11.3635 -16.887 -365.397 -1.33072e-05 -6.03617e-05 -1.07416e-05 -0.000293406 0.000290862 -0.000808719 0.211869 0.00178755 0.429338 -0.000375364 -0.000609768 0.002518 0 0 0.00116698 1.06496e-05 1.06372e-05 0.0010775 0.022246 0.0208856 0.0384896 0.0443042 0.0434624 0.0838374 6.30897e-11 5.97773e-11 6.04142e-10 0 0 4.56289e-07 0 0 0 0 0 0 0 0

13605
test/replay_data/ekf_gsf_reset.csv Normal file
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24
test/test_EKF_withReplayData.cpp
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@ -53,7 +53,7 @@ class EkfReplayTest : public ::testing::Test {
EkfLogger _ekf_logger;
};
TEST_F(EkfReplayTest, replaySensorData)
TEST_F(EkfReplayTest, irisGps)
{
_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/iris_gps.csv");
_ekf_logger.setFilePath("../../../test/change_indication/iris_gps.csv");
@ -70,3 +70,25 @@ TEST_F(EkfReplayTest, replaySensorData)
_ekf_logger.writeStateToFile();
}
}
TEST_F(EkfReplayTest, ekfGsfReset)
{
_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/ekf_gsf_reset.csv");
_ekf_logger.setFilePath("../../../test/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;
params->EKFGSF_reset_delay = 500000;
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();
}
}