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ekf2: handle external altitude resets

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This commit is contained in:
bresch
2024-08-28 11:02:26 +02:00
committed by Mathieu Bresciani
parent cd2170deea
commit bab256bfe6
5 changed files with 148 additions and 39 deletions
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src/modules/ekf2/test/CMakeLists.txt
+1 -1
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@@ -37,7 +37,7 @@ add_subdirectory(sensor_simulator)
add_subdirectory(test_helper)
px4_add_unit_gtest(SRC test_EKF_accelerometer.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
px4_add_unit_gtest(SRC test_EKF_airspeed.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
px4_add_unit_gtest(SRC test_EKF_airspeed.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
px4_add_unit_gtest(SRC test_EKF_basics.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
px4_add_unit_gtest(SRC test_EKF_externalVision.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
px4_add_unit_gtest(SRC test_EKF_fake_pos.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
src/modules/ekf2/test/test_EKF_airspeed.cpp
+78 -1
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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 EkfAirspeedTest : public ::testing::Test
@@ -182,9 +183,11 @@ TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
const double latitude_new = -15.0000005;
const double longitude_new = -115.0000005;
const float altitude_new = 1500.0;
const float eph = 50.f;
const float epv = 10.f;
_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new);
_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, 50.f, 0);
_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, altitude_new, eph, epv, 0);
// Simulate the fact that the sideslip can start immediately, without
// waiting for a measurement sample.
@@ -203,4 +206,78 @@ TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
const Vector2f vel_wind_earth = _ekf->getWindVelocity();
EXPECT_NEAR(vel_wind_earth(0), 0.f, .1f);
EXPECT_NEAR(vel_wind_earth(1), 0.f, .1f);
EXPECT_TRUE(_ekf->global_position_is_valid());
}
TEST_F(EkfAirspeedTest, testAirspeedDeadReckoningLatLonAltReset)
{
// GIVEN: a flying fixed-wing dead-reckoning with airspeed and sideslip fusion
const Vector3f simulated_velocity_earth(-3.6f, 8.f, 0.0f);
const Vector2f airspeed_body(15.f, 0.0f);
_sensor_simulator.runSeconds(10);
_ekf->set_in_air_status(true);
_ekf->set_vehicle_at_rest(false);
_ekf->set_is_fixed_wing(true);
double latitude = -15.0000005;
double longitude = -115.0000005;
float altitude = 1500.0;
const float eph = 50.f;
const float epv = 1.f;
_ekf->setEkfGlobalOrigin(latitude, longitude, altitude);
_ekf->resetGlobalPosToExternalObservation(latitude, longitude, altitude, eph, epv, 0);
_ekf_wrapper.enableBetaFusion();
_sensor_simulator.runSeconds(1.f);
EXPECT_TRUE(_ekf_wrapper.isIntendingBetaFusion());
_sensor_simulator.startAirspeedSensor();
_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
_sensor_simulator.runSeconds(10.f);
EXPECT_TRUE(_ekf_wrapper.isIntendingAirspeedFusion());
EXPECT_TRUE(_ekf->global_position_is_valid());
// WHEN: an external position reset is sent
ResetLoggingChecker reset_logging_checker(_ekf);
reset_logging_checker.capturePreResetState();
double latitude_new = -16.0000005;
double longitude_new = -116.0000005;
float altitude_new = 1602.0;
_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, altitude_new, eph, epv, 0);
const Vector3f pos_new = _ekf->getPosition();
const float altitude_est = -pos_new(2) + _ekf->getEkfGlobalOriginAltitude();
double latitude_est, longitude_est;
_ekf->global_origin().reproject(pos_new(0), pos_new(1), latitude_est, longitude_est);
// THEN: the global position is adjusted accordingly
EXPECT_NEAR(altitude_est, altitude_new, 0.01f);
EXPECT_NEAR(latitude_est, latitude_new, 1e-3f);
EXPECT_NEAR(longitude_est, longitude_new, 1e-3f);
EXPECT_TRUE(_ekf->global_position_is_valid());
reset_logging_checker.capturePostResetState();
EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(0));
EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1));
// AND WHEN: only the lat/lon is valid
latitude_new = -16.0000005;
longitude_new = -116.0000005;
altitude_new = NAN;
_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, altitude_new, eph, epv, 0);
// THEN: lat/lon are reset but not the altitude
reset_logging_checker.capturePostResetState();
EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(0));
EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(2));
}