Test Airspeed fusion

test/CMakeLists.txt

@@ -44,6 +44,7 @@ set(SRCS
 	test_EKF_fusionLogic.cpp
 	test_EKF_initialization.cpp
 	test_EKF_externalVision.cpp
+	test_EKF_airspeed.cpp
    )
 add_executable(ECL_GTESTS ${SRCS})
 

test/sensor_simulator/ekf_wrapper.cpp

@@ -163,6 +163,13 @@ Vector3f EkfWrapper::getVelocityVariance() const
 	return Vector3f(_ekf->velocity_covariances().diag());
 }
 
+Vector2f EkfWrapper::getWindVelocity() const
+{
+	float temp[2];
+	_ekf->get_wind_velocity(temp);
+	return Vector2f(temp);
+}
+
 Quatf EkfWrapper::getVisionAlignmentQuaternion() const
 {
 	float temp[4];

test/sensor_simulator/ekf_wrapper.h

@@ -80,6 +80,7 @@ public:
 	matrix::Vector<float, 4> getQuaternionVariance() const;
 	Vector3f getPositionVariance() const;
 	Vector3f getVelocityVariance() const;
+	Vector2f getWindVelocity() const;
 
 	Quatf getVisionAlignmentQuaternion() const;
 

test/test_EKF_airspeed.cpp

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * Test the fusion of airspeed data
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include "EKF/ekf.h"
+#include "sensor_simulator/sensor_simulator.h"
+#include "sensor_simulator/ekf_wrapper.h"
+
+
+class EkfAirspeedTest : public ::testing::Test {
+ public:
+
+	EkfAirspeedTest(): ::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
+	{
+		_ekf->init(0);
+		_sensor_simulator.runSeconds(2);
+	}
+
+	// Use this method to clean up any memory, network etc. after each test
+	void TearDown() override
+	{
+	}
+};
+
+TEST_F(EkfAirspeedTest, temp)
+{
+	const Vector3f simulated_velocity(1.5f,0.0f,0.0f);
+	_ekf_wrapper.enableExternalVisionVelocityFusion();
+	_sensor_simulator._vio.setVelocity(simulated_velocity);
+	_sensor_simulator.startExternalVision();
+
+	_ekf->set_in_air_status(true);
+	_sensor_simulator.startAirspeedSensor();
+	_sensor_simulator._airspeed.setData(0.1f,0.1f);
+
+	_sensor_simulator.runSeconds(40);
+
+
+	filter_control_status_u control_status;
+	_ekf->get_control_mode(&control_status.value);
+	EXPECT_TRUE(control_status.flags.wind);
+
+	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
+
+	EXPECT_TRUE(_ekf->local_position_is_valid());
+	EXPECT_FALSE(_ekf->global_position_is_valid());
+
+	const Vector3f vel = _ekf_wrapper.getVelocity();
+	const Vector2f vel_wind = _ekf_wrapper.getWindVelocity();
+
+
+	EXPECT_TRUE(matrix::isEqual(vel, simulated_velocity));
+	EXPECT_TRUE(matrix::isEqual(vel_wind, Vector2f{1.4f, 0.0f}));
+
+}