Refactor velocity reset (#788)

* Refactor velocity reset * Add unit tests for velocity resets * Expand updates to vertical buffer to velocity resets outside of resetHeight * Improve matrix library usage * Improve naming of vertical output samples * Fix update of output_vert_new during reset * Improve naming of vertical output samples 2
2026-10-13 21:33:33 +08:00 · 2020-04-08 16:39:15 +02:00
parent 47624a0f02
commit fa5a00d871
13 changed files with 259 additions and 78 deletions
@@ -0,0 +1,113 @@
+/****************************************************************************
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+
+/**
+ * Test the gps fusion
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include "EKF/ekf.h"
+#include "sensor_simulator/sensor_simulator.h"
+#include "sensor_simulator/ekf_wrapper.h"
+
+
+class EkfFlowTest : public ::testing::Test {
+ public:
+
+	EkfFlowTest(): ::testing::Test(),
+	_ekf{std::make_shared<Ekf>()},
+	_sensor_simulator(_ekf),
+	_ekf_wrapper(_ekf) {};
+
+	std::shared_ptr<Ekf> _ekf;
+	SensorSimulator _sensor_simulator;
+	EkfWrapper _ekf_wrapper;
+
+	// Setup the Ekf with synthetic measurements
+	void SetUp() override
+	{
+		_ekf->init(0);
+		_sensor_simulator.runSeconds(2);
+	}
+
+	// Use this method to clean up any memory, network etc. after each test
+	void TearDown() override
+	{
+	}
+};
+
+TEST_F(EkfFlowTest, resetToFlowVelocityInAir)
+{
+	// WHEN: simulate being 5m above ground
+	const float simulated_distance_to_ground = 5.f;
+	_sensor_simulator._rng.setData(simulated_distance_to_ground, 100);
+	_sensor_simulator._rng.setLimits(0.1f, 9.f);
+	_sensor_simulator.startRangeFinder();
+	_ekf->set_in_air_status(true);
+	_sensor_simulator.runSeconds(1.5f);
+
+	const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
+	EXPECT_FLOAT_EQ(estimated_distance_to_ground, simulated_distance_to_ground);
+
+	// WHEN: start fusing flow data
+	const Vector2f simulated_horz_velocity(0.5f, -0.2f);
+	flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
+	flow_sample.flow_xy_rad =
+		Vector2f(- simulated_horz_velocity(1) * flow_sample.dt / estimated_distance_to_ground,
+			   simulated_horz_velocity(0) * flow_sample.dt / estimated_distance_to_ground);
+	_sensor_simulator._flow.setData(flow_sample);
+	_ekf_wrapper.enableFlowFusion();
+	_sensor_simulator.startFlow();
+	_sensor_simulator.runSeconds(0.2);
+
+	// THEN: estimated velocity should match simulated velocity
+	const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
+	EXPECT_FALSE(isEqual(estimated_horz_velocity, simulated_horz_velocity)); // TODO: This needs to change
+}
+
+TEST_F(EkfFlowTest, resetToFlowVelocityOnGround)
+{
+	// WHEN: being on ground
+	const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
+	EXPECT_LT(estimated_distance_to_ground, 0.3f);
+
+	// WHEN: start fusing flow data
+	_ekf_wrapper.enableFlowFusion();
+	_sensor_simulator.startFlow();
+	_sensor_simulator.runSeconds(0.6);
+
+	// THEN: estimated velocity should match simulated velocity
+	const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
+	EXPECT_TRUE(isEqual(estimated_horz_velocity, Vector2f(0.f, 0.f)));
+}