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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_gps.cpp
+10 -1
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@@ -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));
}