mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 00:24:08 +08:00
GTest and Coverage cleanup and Basic EKF GTest
This commit is contained in:
kamilritz
Mathieu Bresciani
parent
fcea13eef8
commit
cac5f3fd6d
@ -36,8 +36,8 @@ cmake_minimum_required(VERSION 3.0)
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project(ECL CXX)
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
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message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
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set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
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message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
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endif()
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
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@ -60,11 +60,11 @@ option(COV_HTML "Display html for coverage" OFF)
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option(ECL_ASAN "Enable ECL address sanitizer" OFF)
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set(CMAKE_CXX_FLAGS_COVERAGE
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"--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
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CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
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"--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
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CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
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set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
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"--coverage -ftest-coverage -lgcov"
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CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
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"--coverage -ftest-coverage -lgcov"
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CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
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mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE)
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@ -92,18 +92,17 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
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-pedantic
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-Wall
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-Wextra
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#-Wextra # This was causing an issue in the swig stuff
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-Werror
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-Wno-missing-field-initializers # ignore for GCC 4.8 support
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)
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endif()
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# testing
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include(CTest)
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enable_testing()
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if(BUILD_TESTING)
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include(CTest)
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option(ECL_TESTS "Build ECL tests" ON)
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add_custom_target(check
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@ -118,6 +117,8 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
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# swig requires -fPIC
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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endif()
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endif()
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# fetch latest matrix from github
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@ -164,28 +165,36 @@ add_subdirectory(geo)
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add_subdirectory(geo_lookup)
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add_subdirectory(l1)
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add_subdirectory(tecs)
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add_subdirectory(validation)
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if(BUILD_TESTING)
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add_subdirectory(validation)
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add_subdirectory(test)
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endif()
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#=============================================================================
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# Coverage
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#
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if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
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add_custom_target(coverage
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COMMAND ${CMAKE_CTEST_COMMAND}
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COMMAND lcov --capture --directory . --output-file coverage.info
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COMMAND lcov --remove coverage.info '/usr/*' --output-file coverage.info # filter out system
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COMMAND lcov --remove coverage.info 'build/coverage_build/EKF/swig/*' --output-file coverage.info
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COMMAND lcov --summary coverage.info
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS check
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)
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add_custom_target(coverage
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COMMAND ${CMAKE_CTEST_COMMAND}
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COMMAND lcov --capture --directory . --output-file coverage.info
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COMMAND lcov --remove coverage.info --output-file coverage.info '/usr/*' '${CMAKE_BINARY_DIR}/*' # filter out system
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COMMAND lcov --summary coverage.info
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS check
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)
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add_custom_target(coverage_html
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COMMAND genhtml coverage.info --output-directory out
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS coverage
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)
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add_custom_target(coverage_html
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COMMAND genhtml coverage.info --output-directory out
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS coverage
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)
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add_custom_target(coverage_html_view
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COMMAND x-www-browser out/index.html
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS coverage_html
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)
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endif()
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@ -223,17 +232,3 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
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endif()
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endif()
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enable_testing()
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include_directories(${GTEST_INCLUDE_DIR})
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add_subdirectory("/usr/src/gtest" ${CMAKE_BINARY_DIR}/gtest)
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set(SRCS
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test/main.cpp
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test/test_example.cpp
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)
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add_executable(TestECL ${SRCS})
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target_include_directories(TestECL PRIVATE ${GTEST_INCLUDE_DIRS})
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target_link_libraries(TestECL gtest gtest_main)
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add_test(NAME TestECL COMMAND TestECL)
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@ -58,10 +58,10 @@ set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h")
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target_compile_options(ecl_EKF PRIVATE -fno-associative-math)
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#if(EKF_PYTHON_TESTS)
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# add_subdirectory(swig)
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#endif()
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if(EKF_PYTHON_TESTS)
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add_subdirectory(swig)
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endif()
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#if(BUILD_TESTING)
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# add_subdirectory(tests)
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#endif()
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if(BUILD_TESTING)
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add_subdirectory(tests)
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endif()
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19
Makefile
19
Makefile
@ -78,7 +78,7 @@ SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
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define cmake-build
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+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) $(3) $(4) || (rm -rf $(BUILD_DIR)); fi
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) $(3) $(4) $(5) || (rm -rf $(BUILD_DIR)); fi
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+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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endef
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@ -98,19 +98,19 @@ doxygen:
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.PHONY: test_build test test_EKF
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test_build:
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@$(call cmake-build,$@,$(SRC_DIR), "-DEKF_PYTHON_TESTS=ON")
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@$(call cmake-build,$@,$(SRC_DIR), "-DEKF_PYTHON_TESTS=ON", "-DBUILD_TESTING=ON")
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test: test_build
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@cmake --build $(SRC_DIR)/build/test_build --target check
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test_EKF: test_build
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@cmake --build $(SRC_DIR)/build/test_build --target ecl_EKF_pytest-quick
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test_EKF_plots: test_build
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@cmake --build $(SRC_DIR)/build/test_build --target ecl_EKF_pytest-plots
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test_build_asan:
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@$(call cmake-build,$@,$(SRC_DIR), "-DECL_ASAN=ON")
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@$(call cmake-build,$@,$(SRC_DIR), "-DECL_ASAN=ON", "-DBUILD_TESTING=ON")
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test_asan: test_build_asan
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@cmake --build $(SRC_DIR)/build/test_build_asan --target check
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@ -119,21 +119,24 @@ test_asan: test_build_asan
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# --------------------------------------------------------------------
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coverage_build:
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@$(call cmake-build,$@,$(SRC_DIR), "-DCMAKE_BUILD_TYPE=Coverage", "-DEKF_PYTHON_TESTS=ON")
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@$(call cmake-build,$@,$(SRC_DIR), "-DCMAKE_BUILD_TYPE=Coverage", "-DEKF_PYTHON_TESTS=ON", "-DBUILD_TESTING=ON")
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coverage: coverage_build
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@cmake --build $(SRC_DIR)/build/coverage_build --target coverage
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coverage_html: coverage
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coverage_html: coverage_build
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@cmake --build $(SRC_DIR)/build/coverage_build --target coverage_html
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coverage_html_view: coverage_build
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@cmake --build $(SRC_DIR)/build/coverage_build --target coverage_html_view
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# Cleanup
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# --------------------------------------------------------------------
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.PHONY: clean distclean
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clean:
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@rm -rf $(SRC_DIR)/build
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distclean:
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@git clean -ff -x -d .
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2015-2018 ECL Development Team. All rights reserved.
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# Copyright (c) 2019 ECL Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@ -31,9 +31,14 @@
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#
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############################################################################
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add_executable(ecl_EKF_tests_ringbuffer ringbuffer.cpp)
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target_link_libraries(ecl_EKF_tests_ringbuffer ecl_EKF)
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include(gtest.cmake)
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add_test(NAME ecl_EKF_tests_ringbuffer
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COMMAND ecl_EKF_tests_ringbuffer
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)
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set(SRCS
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main.cpp
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test_EKF_basics.cpp
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)
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add_executable(ECL_GTESTS ${SRCS})
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target_link_libraries(ECL_GTESTS gtest_main ecl_EKF)
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add_test(NAME ECL_GTESTS COMMAND ECL_GTESTS)
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19
test/CMakeLists.txt.in
Normal file
19
test/CMakeLists.txt.in
Normal file
@ -0,0 +1,19 @@
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cmake_minimum_required(VERSION 2.8.4)
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project(googletest-download NONE)
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include(ExternalProject)
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ExternalProject_Add(googletest
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URL https://github.com/google/googletest/archive/8b6d3f9c4a774bef3081195d422993323b6bb2e0.zip
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SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
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BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
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CONFIGURE_COMMAND ""
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BUILD_COMMAND ""
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INSTALL_COMMAND ""
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TEST_COMMAND ""
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# Wrap download, configure and build steps in a script to log output
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LOG_DOWNLOAD ON
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LOG_CONFIGURE ON
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LOG_BUILD ON
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)
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50
test/gtest.cmake
Normal file
50
test/gtest.cmake
Normal file
@ -0,0 +1,50 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# Download and unpack googletest at configure time
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configure_file(${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt.in googletest-download/CMakeLists.txt)
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execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . RESULT_VARIABLE result1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
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execute_process(COMMAND ${CMAKE_COMMAND} --build . RESULT_VARIABLE result2 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
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if(result1 OR result2)
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message(FATAL_ERROR "Preparing googletest failed: ${result1} ${result2}")
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endif()
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# Add googletest, defines gtest and gtest_main targets
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add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src ${CMAKE_CURRENT_BINARY_DIR}/googletest-build EXCLUDE_FROM_ALL)
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# Remove visibility.h from the compile flags for gtest because of poisoned exit()
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get_target_property(GTEST_COMPILE_FLAGS gtest COMPILE_OPTIONS)
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list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-include")
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list(REMOVE_ITEM GTEST_COMPILE_FLAGS "visibility.h")
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set_target_properties(gtest PROPERTIES COMPILE_OPTIONS "${GTEST_COMPILE_FLAGS}")
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@ -2,6 +2,6 @@
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int main(int argc, char **argv) {
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testing::InitGoogleTest(&argc, argv);
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std::cout << "init test \n";
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std::cout << "Run ECL gtests" << std::endl;
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return RUN_ALL_TESTS();
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}
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295
test/test_EKF_basics.cpp
Normal file
295
test/test_EKF_basics.cpp
Normal file
@ -0,0 +1,295 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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.
|
||||
*
|
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****************************************************************************/
|
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|
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#include <gtest/gtest.h>
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#include <cmath>
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#include "EKF/ekf.h"
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class EkfInitializationTest : public ::testing::Test {
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public:
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Ekf _ekf{};
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// Basics sensors
|
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const uint32_t _imu_dt_us{4000}; // 250 Hz Period between IMU updates
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const uint32_t _baro_dt_us{12500}; // 80 Hz Period between barometer updates
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const uint32_t _mag_dt_us{12500}; // 80 Hz Period between magnetometer updates
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const uint32_t _gps_dt_us{200000}; // 5 Hz Period between GPS updates
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|
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// Flags that control if a sensor is fused
|
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bool _fuse_imu{true};
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bool _fuse_baro{true};
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bool _fuse_mag{true};
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bool _fuse_gps{false}; // GPS measurements are expected to not come in from beginning
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|
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// GPS message
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gps_message _gps_message{};
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|
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uint32_t _update_dt_us{}; // greatest common divider of all basic sensor periods
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const uint32_t _init_duration_us{2000000}; // 2s Duration of
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|
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// counter of how many sensor measurement are put into Ekf
|
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uint32_t _counter_imu{0};
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uint32_t _counter_baro{0};
|
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uint32_t _counter_mag{0};
|
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|
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uint32_t _t_us{0};
|
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|
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// Setup the Ekf with synthetic measurements
|
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void SetUp() override
|
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{
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|
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_ekf.init(0);
|
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|
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// setup gps message to reasonable default values
|
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_gps_message.time_usec = 0;
|
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_gps_message.lat = 473566094;
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_gps_message.lon = 85190237;
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_gps_message.alt = 422056;
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_gps_message.yaw = 0.0f;
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_gps_message.yaw_offset = 0.0f;
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_gps_message.fix_type = 3;
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_gps_message.eph = 0.5f;
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_gps_message.epv = 0.8f;
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_gps_message.sacc = 0.2f;
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_gps_message.vel_m_s = 0.0;
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_gps_message.vel_ned[0] = 0.0f;
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_gps_message.vel_ned[1] = 0.0f;
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_gps_message.vel_ned[2] = 0.0f;
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_gps_message.vel_ned_valid = 1;
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_gps_message.nsats = 16;
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_gps_message.gdop = 0.0f;
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update_with_const_sensors(_init_duration_us);
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// output how many sensor measurement were put into the EKF
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// std::cout << "Initialized EKF with:" << std::endl;
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// std::cout << "update_dt_us: " << _update_dt_us << std::endl;
|
||||
// std::cout << "counter_imu: " << _counter_imu << std::endl
|
||||
// << "counter_baro: " << _counter_baro << std::endl
|
||||
// << "counter_mag: " << _counter_mag << std::endl;
|
||||
}
|
||||
|
||||
void update_with_const_sensors(uint32_t duration_us,
|
||||
Vector3f ang_vel = Vector3f{0.0f,0.0f,0.0f},
|
||||
Vector3f accel = Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G},
|
||||
Vector3f mag_data = Vector3f{0.2f, 0.0f, 0.4f},
|
||||
float baro_data = 122.2f)
|
||||
{
|
||||
// store start time
|
||||
uint32_t start_time_us = _t_us;
|
||||
|
||||
// compute update time step such that we can update the basic sensor at different rates
|
||||
_update_dt_us = std::__gcd(_imu_dt_us,std::__gcd(_mag_dt_us,std::__gcd(_baro_dt_us,_gps_dt_us)));
|
||||
|
||||
// update EKF with synthetic sensor measurements
|
||||
for( ; _t_us < start_time_us+duration_us; _t_us += _update_dt_us)
|
||||
{
|
||||
// Check which sensors update we should do
|
||||
if(_fuse_imu && !(_t_us %_imu_dt_us))
|
||||
{
|
||||
// push imu data into estimator
|
||||
imuSample imu_sample_new;
|
||||
imu_sample_new.time_us = _t_us;
|
||||
imu_sample_new.delta_ang_dt = _imu_dt_us * 1.e-6f;
|
||||
imu_sample_new.delta_ang = ang_vel * imu_sample_new.delta_ang_dt;
|
||||
imu_sample_new.delta_vel_dt = _imu_dt_us * 1.e-6f;
|
||||
imu_sample_new.delta_vel = accel * imu_sample_new.delta_vel_dt;
|
||||
|
||||
_ekf.setIMUData(imu_sample_new);
|
||||
_counter_imu++;
|
||||
}
|
||||
if(_fuse_baro && !(_t_us % _baro_dt_us))
|
||||
{
|
||||
_ekf.setBaroData(_t_us,baro_data);
|
||||
_counter_baro++;
|
||||
}
|
||||
if(_fuse_mag && !(_t_us % _mag_dt_us))
|
||||
{
|
||||
float mag[3];
|
||||
mag_data.copyTo(mag);
|
||||
_ekf.setMagData(_t_us,mag);
|
||||
_counter_mag++;
|
||||
}
|
||||
if(_fuse_gps && !(_t_us % _gps_dt_us))
|
||||
{
|
||||
_gps_message.time_usec = _t_us;
|
||||
_ekf.setGpsData(_t_us,_gps_message);
|
||||
_counter_mag++;
|
||||
}
|
||||
|
||||
_ekf.update();
|
||||
}
|
||||
}
|
||||
|
||||
// Use this method to clean up any memory, network etc. after each test
|
||||
void TearDown() override
|
||||
{
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
TEST_F(EkfInitializationTest, tiltAlign)
|
||||
{
|
||||
// GIVEN: reasonable static sensor data for some duration
|
||||
// THEN: EKF should tilt align
|
||||
EXPECT_EQ(true,_ekf.attitude_valid());
|
||||
}
|
||||
|
||||
TEST_F(EkfInitializationTest, initialControlMode)
|
||||
{
|
||||
// GIVEN: reasonable static sensor data for some duration
|
||||
// THEN: EKF control status should be reasonable
|
||||
filter_control_status_u control_status;
|
||||
_ekf.get_control_mode(&control_status.value);
|
||||
|
||||
EXPECT_EQ(1, (int) control_status.flags.tilt_align);
|
||||
EXPECT_EQ(1, (int) control_status.flags.yaw_align);
|
||||
EXPECT_EQ(0, (int) control_status.flags.gps);
|
||||
EXPECT_EQ(0, (int) control_status.flags.opt_flow);
|
||||
EXPECT_EQ(1, (int) control_status.flags.mag_hdg);
|
||||
EXPECT_EQ(0, (int) control_status.flags.mag_3D);
|
||||
EXPECT_EQ(0, (int) control_status.flags.mag_dec);
|
||||
EXPECT_EQ(0, (int) control_status.flags.in_air);
|
||||
EXPECT_EQ(0, (int) control_status.flags.wind);
|
||||
EXPECT_EQ(1, (int) control_status.flags.baro_hgt);
|
||||
EXPECT_EQ(0, (int) control_status.flags.rng_hgt);
|
||||
EXPECT_EQ(0, (int) control_status.flags.gps_hgt);
|
||||
EXPECT_EQ(0, (int) control_status.flags.ev_pos);
|
||||
EXPECT_EQ(0, (int) control_status.flags.ev_yaw);
|
||||
EXPECT_EQ(0, (int) control_status.flags.ev_hgt);
|
||||
EXPECT_EQ(0, (int) control_status.flags.fuse_beta);
|
||||
EXPECT_EQ(0, (int) control_status.flags.update_mag_states_only);
|
||||
EXPECT_EQ(0, (int) control_status.flags.fixed_wing);
|
||||
EXPECT_EQ(0, (int) control_status.flags.mag_fault);
|
||||
EXPECT_EQ(0, (int) control_status.flags.gnd_effect);
|
||||
EXPECT_EQ(0, (int) control_status.flags.rng_stuck);
|
||||
EXPECT_EQ(0, (int) control_status.flags.gps_yaw);
|
||||
EXPECT_EQ(0, (int) control_status.flags.mag_align_complete);
|
||||
EXPECT_EQ(0, (int) control_status.flags.ev_vel);
|
||||
EXPECT_EQ(0, (int) control_status.flags.synthetic_mag_z);
|
||||
}
|
||||
|
||||
TEST_F(EkfInitializationTest, convergesToZero)
|
||||
{
|
||||
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
|
||||
// WHEN: Added more defautl sensor measurements
|
||||
update_with_const_sensors(4000000); // for further 4s
|
||||
|
||||
float converged_pos[3];
|
||||
float converged_vel[3];
|
||||
float converged_accel_bias[3];
|
||||
float converged_gyro_bias[3];
|
||||
_ekf.get_position(converged_pos);
|
||||
_ekf.get_velocity(converged_vel);
|
||||
_ekf.get_accel_bias(converged_accel_bias);
|
||||
_ekf.get_gyro_bias(converged_gyro_bias);
|
||||
|
||||
// THEN: EKF should stay or converge to zero
|
||||
for(int i=0; i<3; ++i)
|
||||
{
|
||||
EXPECT_NEAR(0.0f,converged_pos[i],0.001f);
|
||||
EXPECT_NEAR(0.0f,converged_vel[i],0.001f);
|
||||
EXPECT_NEAR(0.0f,converged_accel_bias[i],0.001f);
|
||||
EXPECT_NEAR(0.0f,converged_gyro_bias[i],0.001f);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(EkfInitializationTest, gpsFusion)
|
||||
{
|
||||
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
|
||||
// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec
|
||||
|
||||
_fuse_gps = true;
|
||||
update_with_const_sensors(11000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}); // for further 3s
|
||||
|
||||
// THEN: EKF should fuse GPS, but no other position sensor
|
||||
filter_control_status_u control_status;
|
||||
_ekf.get_control_mode(&control_status.value);
|
||||
EXPECT_EQ(1, (int) control_status.flags.tilt_align);
|
||||
EXPECT_EQ(1, (int) control_status.flags.yaw_align);
|
||||
EXPECT_EQ(1, (int) control_status.flags.gps);
|
||||
EXPECT_EQ(0, (int) control_status.flags.opt_flow);
|
||||
EXPECT_EQ(1, (int) control_status.flags.mag_hdg);
|
||||
EXPECT_EQ(0, (int) control_status.flags.mag_3D);
|
||||
EXPECT_EQ(0, (int) control_status.flags.mag_dec);
|
||||
EXPECT_EQ(0, (int) control_status.flags.in_air);
|
||||
EXPECT_EQ(0, (int) control_status.flags.wind);
|
||||
EXPECT_EQ(1, (int) control_status.flags.baro_hgt);
|
||||
EXPECT_EQ(0, (int) control_status.flags.rng_hgt);
|
||||
EXPECT_EQ(0, (int) control_status.flags.gps_hgt);
|
||||
EXPECT_EQ(0, (int) control_status.flags.ev_pos);
|
||||
EXPECT_EQ(0, (int) control_status.flags.ev_yaw);
|
||||
EXPECT_EQ(0, (int) control_status.flags.ev_hgt);
|
||||
EXPECT_EQ(0, (int) control_status.flags.fuse_beta);
|
||||
EXPECT_EQ(0, (int) control_status.flags.update_mag_states_only);
|
||||
EXPECT_EQ(0, (int) control_status.flags.fixed_wing);
|
||||
EXPECT_EQ(0, (int) control_status.flags.mag_fault);
|
||||
EXPECT_EQ(0, (int) control_status.flags.gnd_effect);
|
||||
EXPECT_EQ(0, (int) control_status.flags.rng_stuck);
|
||||
EXPECT_EQ(0, (int) control_status.flags.gps_yaw);
|
||||
EXPECT_EQ(0, (int) control_status.flags.mag_align_complete);
|
||||
EXPECT_EQ(0, (int) control_status.flags.ev_vel);
|
||||
EXPECT_EQ(0, (int) control_status.flags.synthetic_mag_z);
|
||||
}
|
||||
|
||||
TEST_F(EkfInitializationTest, accleBiasEstimation)
|
||||
{
|
||||
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
|
||||
// WHEN: Added more sensor measurements with accel bias and gps measurements
|
||||
Vector3f accel_bias = {0.0f,0.0f,0.1f};
|
||||
|
||||
_fuse_gps = true;
|
||||
update_with_const_sensors(10000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}+accel_bias); // for further 10s
|
||||
|
||||
float converged_pos[3];
|
||||
float converged_vel[3];
|
||||
float converged_accel_bias[3];
|
||||
float converged_gyro_bias[3];
|
||||
_ekf.get_position(converged_pos);
|
||||
_ekf.get_velocity(converged_vel);
|
||||
_ekf.get_accel_bias(converged_accel_bias);
|
||||
_ekf.get_gyro_bias(converged_gyro_bias);
|
||||
|
||||
// THEN: EKF should estimate bias correctelly
|
||||
for(int i=0; i<3; ++i)
|
||||
{
|
||||
EXPECT_NEAR(0.0f,converged_pos[i],0.001f) << "i: " << i;
|
||||
EXPECT_NEAR(0.0f,converged_vel[i],0.001f) << "i: " << i;
|
||||
EXPECT_NEAR(accel_bias(i),converged_accel_bias[i],0.001f) << "i: " << i;
|
||||
EXPECT_NEAR(0.0f,converged_gyro_bias[i],0.001f) << "i: " << i;
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: Add sampling tests
|
||||
@ -1,7 +0,0 @@
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
TEST(test_example, sample_test)
|
||||
{
|
||||
printf("blabla \n" );
|
||||
EXPECT_EQ(1, 1);
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user