test recording of velocity reset

test/test_helper/CMakeLists.txt

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+############################################################################
+#
+#   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

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+#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

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+/****************************************************************************
+ *
+ *   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;
+};