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test recording of velocity reset

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This commit is contained in:
Kamil Ritz
2020-04-12 10:50:04 +02:00
committed by Mathieu Bresciani
parent 30d69aa45b
commit adacca099d
7 changed files with 258 additions and 2 deletions
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test/test_EKF_flow.cpp
+21
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@@ -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));
}