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Expand test framework and test cases (#685)

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* Fix comment

* Ekf wrapper for testing

Add utility function for accessing information in the ekf object

* Add step function for Gps sensor

* Add RangeFinder and Flow to simulated sensors

* Add first fusion logic tests

* Add units to function name

* Use EXPECT_TRUE

* Adding missing qualifiers

* Improve EXPECT_ calls

* Improve naming
This commit is contained in:
kritz
2019-12-17 11:35:45 +01:00
committed by Mathieu Bresciani
parent 6c25ac5731
commit 532c9abd4a
23 changed files with 679 additions and 115 deletions
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EKF/common.h
+1 -1
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@@ -76,7 +76,7 @@ struct flow_message {
uint8_t quality; ///< Quality of Flow data
Vector2f flowdata; ///< Optical flow rates about the X and Y body axes (rad/sec)
Vector3f gyrodata; ///< Gyro rates about the XYZ body axes (rad/sec)
uint32_t dt; ///< integration time of flow samples (sec)
uint32_t dt; ///< integration time of flow samples (microseconds)
};
struct ext_vision_message {
EKF/control.cpp
+1
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@@ -401,6 +401,7 @@ void Ekf::controlExternalVisionFusion()
void Ekf::controlOpticalFlowFusion()
{
// TODO: These motion checks run all the time. Pull them out of this function
// Check if on ground motion is un-suitable for use of optical flow
if (!_control_status.flags.in_air) {
// When on ground check if the vehicle is being shaken or moved in a way that could cause a loss of navigation
EKF/estimator_interface.cpp
+2 -3
View File
@@ -344,7 +344,7 @@ void EstimatorInterface::setRangeData(uint64_t time_usec, float data, int8_t qua
}
}
// set optical flow data
// TODO: Change pointer to constant reference
void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *flow)
{
if (!_initialised || _flow_buffer_fail) {
@@ -366,7 +366,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
if ((time_usec - _time_last_optflow) > _min_obs_interval_us) {
// check if enough integration time and fail if integration time is less than 50%
// of min arrival interval because too much data is being lost
float delta_time = 1e-6f * (float)flow->dt;
float delta_time = 1e-6f * (float)flow->dt; // in seconds
float delta_time_min = 5e-7f * (float)_min_obs_interval_us;
bool delta_time_good = delta_time >= delta_time_min;
@@ -407,7 +407,6 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
optflow_sample_new.gyroXYZ = - flow->gyrodata;
optflow_sample_new.flowRadXY = -flow->flowdata;
// convert integration interval to seconds
optflow_sample_new.dt = delta_time;
_time_last_optflow = time_usec;