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Robustify timestamp checks (#729)

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* Robustify timestamp checks

* Remove lowerbound on sensor timestamp

* Add tests for fusion timeouts

* Inline and const time check functions

* Rename dead_reckoning time variable
This commit is contained in:
kritz
2020-01-28 20:33:16 +11:00
committed by Paul Riseborough
parent f20726d47f
commit ee859e092a
15 changed files with 429 additions and 68 deletions
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test/test_EKF_fusionLogic.cpp
+186 -2
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@@ -68,6 +68,22 @@ class EkfFusionLogicTest : public ::testing::Test {
};
TEST_F(EkfFusionLogicTest, doNoFusion)
{
// GIVEN: a tilt and heading aligned filter
// WHEN: having no aiding source EKF should not have a valid position estimate
// TODO: for the first 5 second it still has some valid local position
// that needs to change
EXPECT_TRUE(_ekf->local_position_is_valid());
_sensor_simulator.runSeconds(4);
// THEN: Local and global position should not be valid
EXPECT_FALSE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
}
TEST_F(EkfFusionLogicTest, doGpsFusion)
{
// GIVEN: a tilt and heading aligned filter
@@ -153,7 +169,7 @@ TEST_F(EkfFusionLogicTest, doFlowFusion)
_sensor_simulator.startFlow();
_sensor_simulator.runSeconds(4);
// THEN: EKF should intend to fuse flow measurements
// THEN: EKF should not intend to fuse flow measurements
EXPECT_FALSE(_ekf_wrapper.isIntendingFlowFusion());
// THEN: Local and global position should not be valid
EXPECT_FALSE(_ekf->local_position_is_valid());
@@ -171,7 +187,7 @@ TEST_F(EkfFusionLogicTest, doFlowFusion)
EXPECT_FALSE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
// WHEN: Flow data is send and we enable flow fusion
// WHEN: Flow data is sent and we enable flow fusion
_sensor_simulator.startFlow();
_ekf_wrapper.enableFlowFusion();
_sensor_simulator.runSeconds(10);
@@ -181,4 +197,172 @@ TEST_F(EkfFusionLogicTest, doFlowFusion)
// THEN: Local and global position should be valid
EXPECT_TRUE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
// WHEN: Stop sending flow data
_sensor_simulator.stopFlow();
_sensor_simulator.runSeconds(10);
// THEN: EKF should not intend to fuse flow measurements
EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion()); // TODO: change to false
// THEN: Local and global position should not be valid
EXPECT_FALSE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
}
TEST_F(EkfFusionLogicTest, doVisionPositionFusion)
{
// WHEN: allow vision position to be fused and we send vision data
_ekf_wrapper.enableExternalVisionPositionFusion();
_sensor_simulator.startExternalVision();
_sensor_simulator.runSeconds(4);
// THEN: EKF should intend to fuse vision position estimate
// and we have a valid local position estimate
EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
EXPECT_TRUE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
// WHEN: stop sending vision data
_sensor_simulator.stopExternalVision();
_sensor_simulator.runSeconds(7);
// THEN: EKF should stop to intend to fuse vision position estimate
// and EKF should not have a valid local position estimate anymore
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
EXPECT_FALSE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
}
TEST_F(EkfFusionLogicTest, doVisionVelocityFusion)
{
// WHEN: allow vision position to be fused and we send vision data
_ekf_wrapper.enableExternalVisionVelocityFusion();
_sensor_simulator.startExternalVision();
_sensor_simulator.runSeconds(4);
// THEN: EKF should intend to fuse vision position estimate
// and we have a valid local position estimate
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
EXPECT_TRUE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
// WHEN: stop sending vision data
_sensor_simulator.stopExternalVision();
_sensor_simulator.runSeconds(7);
// THEN: EKF should stop to intend to fuse vision position estimate
// and EKF should not have a valid local position estimate anymore
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
EXPECT_FALSE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
}
TEST_F(EkfFusionLogicTest, doVisionHeadingFusion)
{
// WHEN: allow vision position to be fused and we send vision data
_ekf_wrapper.enableExternalVisionHeadingFusion();
_sensor_simulator.startExternalVision();
_sensor_simulator.runSeconds(4);
// THEN: EKF should intend to fuse vision heading estimates
// and we should not have a valid local position estimate
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
EXPECT_FALSE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
// WHEN: stop sending vision data
_sensor_simulator.stopExternalVision();
_sensor_simulator.runSeconds(6);
// THEN: EKF should stop to intend to fuse vision position estimate
// and EKF should not have a valid local position estimate anymore
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
// TODO: it is still intending to fuse ev_yaw. There should be some fallback to mag if possible
EXPECT_FALSE(_ekf->local_position_is_valid());
EXPECT_FALSE(_ekf->global_position_is_valid());
}
TEST_F(EkfFusionLogicTest, doBaroHeightFusion)
{
// GIVEN: EKF that receives baro data
// THEN: EKF should intend to fuse baro by default
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
// WHEN: stop sending baro data
_sensor_simulator.stopBaro();
_sensor_simulator.runSeconds(6);
// THEN: EKF should stop to intend to use baro hgt
// TODO: We have no fall back in balce
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion()); // TODO: Needs to change
}
TEST_F(EkfFusionLogicTest, doGpsHeightFusion)
{
// WHEN: commanding GPS height and sending GPS data
_ekf_wrapper.setGpsHeight();
_sensor_simulator.startGps();
_sensor_simulator.runSeconds(11);
// THEN: EKF should intend to fuse gps height
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
// WHEN: stop sending gps data
_sensor_simulator.stopGps();
_sensor_simulator.runSeconds(11); // TODO: We have to wait way too long
// THEN: EKF should stop to intend to use gps height
EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeightFusion());
}
TEST_F(EkfFusionLogicTest, doRangeHeightFusion)
{
// WHEN: commanding range height and sending range data
_ekf_wrapper.setRangeHeight();
_sensor_simulator.startRangeFinder();
_sensor_simulator.runSeconds(2);
// THEN: EKF should intend to fuse range height
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
// WHEN: stop sending range data
_sensor_simulator.stopRangeFinder();
_sensor_simulator.runSeconds(2);
// THEN: EKF should stop to intend to use range height
EXPECT_FALSE(_ekf_wrapper.isIntendingRangeHeightFusion());
}
TEST_F(EkfFusionLogicTest, doVisionHeightFusion)
{
// WHEN: commanding vision height and sending vision data
_ekf_wrapper.setVisionHeight();
_sensor_simulator.startExternalVision();
_sensor_simulator.runSeconds(2);
// THEN: EKF should intend to fuse vision height
EXPECT_TRUE(_ekf_wrapper.isIntendingVisionHeightFusion());
// WHEN: stop sending vision data
_sensor_simulator.stopExternalVision();
_sensor_simulator.runSeconds(12);
// THEN: EKF should stop to intend to use vision height
// TODO: This is not happening
EXPECT_TRUE(_ekf_wrapper.isIntendingVisionHeightFusion()); // TODO: Needs to change
}