test recording of velocity reset

2026-10-21 01:23:34 +08:00 · 2020-04-19 12:43:37 +02:00
parent 30d69aa45b
commit adacca099d
7 changed files with 258 additions and 2 deletions
@@ -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;
+};