ekf2: add mag unit tests

src/modules/ekf2/test/CMakeLists.txt

@@ -51,6 +51,7 @@ px4_add_unit_gtest(SRC test_EKF_gnss_yaw_generated.cpp LINKLIBS ecl_EKF ecl_test
 px4_add_unit_gtest(SRC test_EKF_height_fusion.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_imuSampling.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_initialization.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
+px4_add_unit_gtest(SRC test_EKF_mag.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_mag_3d_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_mag_declination_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_measurementSampling.cpp LINKLIBS ecl_EKF ecl_sensor_sim)

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -195,6 +195,11 @@ void EkfWrapper::setMagFuseTypeNone()
 	_ekf_params->mag_fusion_type = MagFuseType::NONE;
 }
 
+void EkfWrapper::enableMagStrengthCheck()
+{
+	_ekf_params->check_mag_strength = 1;
+}
+
 bool EkfWrapper::isWindVelocityEstimated() const
 {
 	return _ekf->control_status_flags().wind;

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h

@@ -97,6 +97,7 @@ public:
 	bool isIntendingMagHeadingFusion() const;
 	bool isIntendingMag3DFusion() const;
 	void setMagFuseTypeNone();
+	void enableMagStrengthCheck();
 
 	bool isWindVelocityEstimated() const;
 

src/modules/ekf2/test/test_EKF_mag.cpp

@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Test the mag fusion
+ */
+
+#include <gtest/gtest.h>
+#include "EKF/ekf.h"
+#include "sensor_simulator/sensor_simulator.h"
+#include "sensor_simulator/ekf_wrapper.h"
+#include "test_helper/reset_logging_checker.h"
+
+class EkfMagTest : public ::testing::Test
+{
+public:
+
+	EkfMagTest(): ::testing::Test(),
+		_ekf{std::make_shared<Ekf>()},
+		_sensor_simulator(_ekf),
+		_ekf_wrapper(_ekf) {};
+
+	std::shared_ptr<Ekf> _ekf;
+	SensorSimulator _sensor_simulator;
+	EkfWrapper _ekf_wrapper;
+
+	// Setup the Ekf with synthetic measurements
+	void SetUp() override
+	{
+		// run briefly to init, then manually set in air and at rest (default for a real vehicle)
+		_ekf->init(0);
+		_sensor_simulator.runSeconds(0.1);
+		_ekf->set_in_air_status(false);
+		_ekf->set_vehicle_at_rest(true);
+	}
+
+	const uint32_t _init_duration_s{4};
+};
+
+TEST_F(EkfMagTest, fusionStartWithReset)
+{
+	// GIVEN: some meaningful mag data
+	const float mag_heading = M_PI_F / 3.f;
+	const Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), 0.4f);
+	_sensor_simulator._mag.setData(mag_data);
+
+	const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
+	_sensor_simulator.runSeconds(_init_duration_s);
+
+	// THEN: the fusion initializes using the mag data and runs normally
+	EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(0.1f));
+	EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
+
+	EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
+}
+
+TEST_F(EkfMagTest, noInitLargeStrength)
+{
+	// GIVEN: a really large magnetic field
+	_ekf_wrapper.enableMagStrengthCheck();
+	const Vector3f mag_data(1.f, 1.f, 1.f);
+	_sensor_simulator._mag.setData(mag_data);
+
+	const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
+	_sensor_simulator.runSeconds(_init_duration_s);
+
+	// THEN: the fusion shouldn't start
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
+	EXPECT_EQ(0, (int) _ekf->control_status_flags().yaw_align);
+	EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter);
+}
+
+TEST_F(EkfMagTest, suddenLargeStrength)
+{
+	_ekf_wrapper.enableMagStrengthCheck();
+
+	// GIVEN: some meaningful mag data
+	const float mag_heading = -M_PI_F / 7.f;
+	Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), 0.4f);
+	_sensor_simulator._mag.setData(mag_data);
+
+	_sensor_simulator.runSeconds(_init_duration_s);
+
+	// THEN: the fusion initializes using the mag data and runs normally
+	EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(0.1f));
+	EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
+
+	// BUT WHEN: the mag field norm is suddenly too large
+	mag_data *= 5.f;
+	_sensor_simulator._mag.setData(mag_data);
+	_sensor_simulator.runSeconds(6.f);
+
+	// THEN: the mag fusion should stop after some time
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
+}