test recording of velocity reset

test/CMakeLists.txt

@@ -34,6 +34,7 @@
 include(gtest.cmake)
 
 add_subdirectory(sensor_simulator)
+add_subdirectory(test_helper)
 
 set(SRCS
 	main.cpp
@@ -54,6 +55,6 @@ set(SRCS
    )
 add_executable(ECL_GTESTS ${SRCS})
 
-target_link_libraries(ECL_GTESTS gtest_main ecl_EKF ecl_sensor_sim)
+target_link_libraries(ECL_GTESTS gtest_main ecl_EKF ecl_sensor_sim ecl_test_helper)
 
 add_test(NAME ECL_GTESTS COMMAND ECL_GTESTS)

test/test_EKF_externalVision.cpp

@@ -40,6 +40,7 @@
 #include "EKF/ekf.h"
 #include "sensor_simulator/sensor_simulator.h"
 #include "sensor_simulator/ekf_wrapper.h"
+#include "test_helper/reset_logging_checker.h"
 
 
 class EkfExternalVisionTest : public ::testing::Test {
@@ -103,6 +104,9 @@ TEST_F(EkfExternalVisionTest, checkVisionFusionLogic)
 
 TEST_F(EkfExternalVisionTest, visionVelocityReset)
 {
+	ResetLoggingChecker reset_logging_checker(_ekf);
+	reset_logging_checker.capturePreResetState();
+
 	const Vector3f simulated_velocity(0.3f, -1.0f, 0.4f);
 
 	_sensor_simulator._vio.setVelocity(simulated_velocity);
@@ -113,10 +117,18 @@ TEST_F(EkfExternalVisionTest, visionVelocityReset)
 	// THEN: a reset to Vision velocity should be done
 	const Vector3f estimated_velocity = _ekf->getVelocity();
 	EXPECT_TRUE(isEqual(estimated_velocity, simulated_velocity, 1e-5f));
+
+	// AND: the reset in velocity should be saved correctly
+	reset_logging_checker.capturePostResetState();
+	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-5f));
 }
 
 TEST_F(EkfExternalVisionTest, visionVelocityResetWithAlignment)
 {
+	ResetLoggingChecker reset_logging_checker(_ekf);
+	reset_logging_checker.capturePreResetState();
 	// GIVEN: Drone is pointing north, and we use mag (ROTATE_EV)
 	//        Heading of drone in EKF frame is 0°
 
@@ -140,6 +152,12 @@ TEST_F(EkfExternalVisionTest, visionVelocityResetWithAlignment)
 	Quatf estimatedExternalVisionFrameOffset = _ekf->getVisionAlignmentQuaternion();
 	EXPECT_TRUE(matrix::isEqual(vision_to_ekf.canonical(),
 				    estimatedExternalVisionFrameOffset.canonical()));
+
+	// AND: the reset in velocity should be saved correctly
+	reset_logging_checker.capturePostResetState();
+	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-5f));
 }
 
 TEST_F(EkfExternalVisionTest, visionVarianceCheck)

test/test_EKF_flow.cpp

@@ -40,6 +40,7 @@
 #include "EKF/ekf.h"
 #include "sensor_simulator/sensor_simulator.h"
 #include "sensor_simulator/ekf_wrapper.h"
+#include "test_helper/reset_logging_checker.h"
 
 
 class EkfFlowTest : public ::testing::Test {
@@ -69,6 +70,8 @@ class EkfFlowTest : public ::testing::Test {
 
 TEST_F(EkfFlowTest, resetToFlowVelocityInAir)
 {
+	ResetLoggingChecker reset_logging_checker(_ekf);
+
 	// WHEN: simulate being 5m above ground
 	const float simulated_distance_to_ground = 5.f;
 	_sensor_simulator._rng.setData(simulated_distance_to_ground, 100);
@@ -80,6 +83,8 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir)
 	const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
 	EXPECT_FLOAT_EQ(estimated_distance_to_ground, simulated_distance_to_ground);
 
+	reset_logging_checker.capturePreResetState();
+
 	// WHEN: start fusing flow data
 	const Vector2f simulated_horz_velocity(0.5f, -0.2f);
 	flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
@@ -94,14 +99,24 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir)
 	// THEN: estimated velocity should match simulated velocity
 	const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
 	EXPECT_FALSE(isEqual(estimated_horz_velocity, simulated_horz_velocity)); // TODO: This needs to change
+
+	// AND: the reset in velocity should be saved correctly
+	reset_logging_checker.capturePostResetState();
+	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
+	EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-9f));
 }
 
 TEST_F(EkfFlowTest, resetToFlowVelocityOnGround)
 {
+	ResetLoggingChecker reset_logging_checker(_ekf);
+
 	// WHEN: being on ground
 	const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
 	EXPECT_LT(estimated_distance_to_ground, 0.3f);
 
+	reset_logging_checker.capturePreResetState();
+
 	// WHEN: start fusing flow data
 	_ekf_wrapper.enableFlowFusion();
 	_sensor_simulator.startFlow();
@@ -110,4 +125,10 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround)
 	// THEN: estimated velocity should match simulated velocity
 	const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
 	EXPECT_TRUE(isEqual(estimated_horz_velocity, Vector2f(0.f, 0.f)));
+
+	// AND: the reset in velocity should be saved correctly
+	reset_logging_checker.capturePostResetState();
+	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
+	EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-9f));
 }

test/test_EKF_gps.cpp

@@ -40,7 +40,7 @@
 #include "EKF/ekf.h"
 #include "sensor_simulator/sensor_simulator.h"
 #include "sensor_simulator/ekf_wrapper.h"
-
+#include "test_helper/reset_logging_checker.h"
 
 class EkfGpsTest : public ::testing::Test {
  public:
@@ -86,6 +86,7 @@ TEST_F(EkfGpsTest, gpsTimeout)
 
 TEST_F(EkfGpsTest, resetToGpsVelocity)
 {
+	ResetLoggingChecker reset_logging_checker(_ekf);
 	// GIVEN:EKF that fuses GPS
 	// and has gps checks already passed
 
@@ -93,6 +94,8 @@ TEST_F(EkfGpsTest, resetToGpsVelocity)
 	_sensor_simulator.stopGps();
 	_sensor_simulator.runSeconds(11);
 
+	reset_logging_checker.capturePreResetState();
+
 	// AND: simulate constant velocity gps samples for short time
 	_sensor_simulator.startGps();
 	const Vector3f simulated_velocity(0.5f, 1.0f, -0.3f);
@@ -107,4 +110,10 @@ TEST_F(EkfGpsTest, resetToGpsVelocity)
 	// THEN: a reset to GPS velocity should be done
 	const Vector3f estimated_velocity = _ekf->getVelocity();
 	EXPECT_TRUE(isEqual(estimated_velocity, simulated_velocity, 1e-2f));
+
+	// AND: the reset in velocity should be saved correctly
+	reset_logging_checker.capturePostResetState();
+	EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-2f));
 }

test/test_helper/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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 ECL 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.
+#
+############################################################################
+
+
+set(SRCS
+	reset_logging_checker.cpp
+   )
+
+add_library(ecl_test_helper ${SRCS})
+target_link_libraries(ecl_test_helper ecl_EKF)

test/test_helper/reset_logging_checker.cpp

@@ -0,0 +1,81 @@
+#include "reset_logging_checker.h"
+
+// call immediately after state reset
+void ResetLoggingChecker::capturePreResetState() {
+	float a[2];
+	float b;
+	uint8_t c;
+	_ekf->get_velNE_reset(a, &c);
+	horz_vel_reset_counter_before_reset = c;
+	_ekf->get_velD_reset(&b, &c);
+	vert_vel_reset_counter_before_reset = c;
+	_ekf->get_posNE_reset(a, &c);
+	horz_pos_reset_counter_before_reset = c;
+	_ekf->get_posD_reset(&b, &c);
+	vert_pos_reset_counter_before_reset = c;
+
+	velocity_before_reset = _ekf->getVelocity();
+	position_before_reset = _ekf->getPosition();
+}
+
+// call immediately after state reset
+void ResetLoggingChecker::capturePostResetState() {
+	float a[2];
+	float b;
+	uint8_t c;
+	_ekf->get_velNE_reset(a, &c);
+	logged_delta_velocity(0) = a[0];
+	logged_delta_velocity(1) = a[1];
+	horz_vel_reset_counter_after_reset = c;
+	_ekf->get_velD_reset(&b, &c);
+	logged_delta_velocity(2) = b;
+	vert_vel_reset_counter_after_reset = c;
+	_ekf->get_posNE_reset(a, &c);
+	logged_delta_position(0) = a[0];
+	logged_delta_position(1) = a[1];
+	horz_pos_reset_counter_after_reset = c;
+	_ekf->get_posD_reset(&b, &c);
+	logged_delta_position(2) = b;
+	vert_pos_reset_counter_after_reset = c;
+
+	velocity_after_reset = _ekf->getVelocity();
+	position_after_reset = _ekf->getPosition();
+}
+
+bool ResetLoggingChecker::isVelocityDeltaLoggedCorrectly(float accuracy) {
+	const  Vector3f measured_delta_velocity = velocity_after_reset -
+							velocity_before_reset;
+
+	return matrix::isEqual(logged_delta_velocity,
+				measured_delta_velocity,
+				accuracy);
+}
+
+bool ResetLoggingChecker::isHorizontalVelocityResetCounterIncreasedBy(int offset) {
+	return horz_vel_reset_counter_after_reset ==
+		horz_vel_reset_counter_before_reset + offset;
+}
+
+bool ResetLoggingChecker::isVerticalVelocityResetCounterIncreasedBy(int offset) {
+	return vert_vel_reset_counter_after_reset ==
+		vert_vel_reset_counter_before_reset + offset;
+}
+
+bool ResetLoggingChecker::isPositionDeltaLoggedCorrectly(float accuracy) {
+	const  Vector3f measured_delta_position = position_after_reset -
+							position_before_reset;
+
+	return matrix::isEqual(logged_delta_position,
+				measured_delta_position,
+				accuracy);
+}
+
+bool ResetLoggingChecker::isHorizontalPositionResetCounterIncreasedBy(int offset) {
+	return horz_pos_reset_counter_after_reset ==
+		horz_pos_reset_counter_before_reset + offset;
+}
+
+bool ResetLoggingChecker::isVerticalPositionResetCounterIncreasedBy(int offset) {
+	return vert_pos_reset_counter_after_reset ==
+		vert_pos_reset_counter_before_reset + offset;
+}

test/test_helper/reset_logging_checker.h

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Helper class to check the state_reset_status member of the ekf object.
+ * Used for checking if state resets are logged correctly.
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+
+#pragma once
+
+#include <memory>
+#include "EKF/ekf.h"
+
+class ResetLoggingChecker {
+public:
+	ResetLoggingChecker(std::shared_ptr<Ekf> ekf) : _ekf(ekf) {}
+
+	// call immediately before state reset
+	void capturePreResetState();
+
+	// call immediately after state reset
+	void capturePostResetState();
+
+	bool isVelocityDeltaLoggedCorrectly(float accuracy);
+
+	bool isHorizontalVelocityResetCounterIncreasedBy(int offset);
+
+	bool isVerticalVelocityResetCounterIncreasedBy(int offset);
+
+	bool isPositionDeltaLoggedCorrectly(float accuracy);
+
+	bool isHorizontalPositionResetCounterIncreasedBy(int offset);
+
+	bool isVerticalPositionResetCounterIncreasedBy(int offset);
+
+private:
+	std::shared_ptr<Ekf> _ekf;
+
+	Vector3f velocity_before_reset;
+	Vector3f position_before_reset;
+	int horz_vel_reset_counter_before_reset;
+	int vert_vel_reset_counter_before_reset;
+	int horz_pos_reset_counter_before_reset;
+	int vert_pos_reset_counter_before_reset;
+
+	Vector3f velocity_after_reset;
+	Vector3f position_after_reset;
+	int horz_vel_reset_counter_after_reset;
+	int vert_vel_reset_counter_after_reset;
+	int horz_pos_reset_counter_after_reset;
+	int vert_pos_reset_counter_after_reset;
+
+	Vector3f logged_delta_velocity;
+	Vector3f logged_delta_position;
+};