Expand test framework and test cases (#685)

* 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
2026-10-16 18:23:33 +08:00 · 2019-12-17 11:35:45 +01:00
parent 6c25ac5731
commit 532c9abd4a
23 changed files with 679 additions and 115 deletions
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Wrapper class for Ekf object to set behavior or check status
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+#pragma once
+
+#include <memory>
+#include "EKF/ekf.h"
+#include "EKF/estimator_interface.h"
+
+class EkfWrapper
+{
+public:
+	EkfWrapper(std::shared_ptr<Ekf> ekf);
+	~EkfWrapper();
+
+	void enableGpsFusion();
+
+	void disableGpsFusion();
+
+	bool isIntendingGpsFusion() const;
+
+	void enableFlowFusion();
+
+	void disableFlowFusion();
+
+	bool isIntendingFlowFusion() const;
+
+	Vector3f getPosition() const;
+	Vector3f getVelocity() const;
+	Vector3f getAccelBias() const;
+	Vector3f getGyroBias() const;
+
+
+private:
+	std::shared_ptr<Ekf> _ekf;
+
+	// Pointer to Ekf internal param struct
+	parameters* _ekf_params;
+
+};