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ekf2: add terrain state

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bresch
2024-06-26 11:05:38 +02:00
committed by Silvan Fuhrer
parent 09f066a73a
commit 68980b59e2
53 changed files with 1936 additions and 1930 deletions
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src/modules/ekf2/test/test_EKF_flow_generated.cpp
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/****************************************************************************
*
* Copyright (C) 2024 PX4 Development Team. All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* are met:
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* 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
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* 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.
*
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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****************************************************************************/
#include <cfloat>
#include <gtest/gtest.h>
#include "EKF/ekf.h"
#include "test_helper/comparison_helper.h"
#include "../EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h"
#include "../EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h"
using namespace matrix;
TEST(FlowGenerated, distBottom0xy)
{
// GIVEN: 0 distance to the ground (singularity)
StateSample state{};
state.quat_nominal = Quatf();
const float R = sq(radians(sq(0.5f)));
SquareMatrixState P = createRandomCovarianceMatrix();
VectorState H;
Vector2f innov_var;
sym::ComputeFlowXyInnovVarAndHx(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
EXPECT_GT(innov_var(0), 1e12);
EXPECT_GT(innov_var(1), 1e12);
}
TEST(FlowGenerated, distBottom0y)
{
// GIVEN: 0 distance to the ground (singularity)
StateSample state{};
state.quat_nominal = Quatf();
const float R = sq(radians(sq(0.5f)));
SquareMatrixState P = createRandomCovarianceMatrix();
VectorState H;
float innov_var;
sym::ComputeFlowYInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
EXPECT_GT(innov_var, 1e12);
}