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ee859e092a
* Robustify timestamp checks * Remove lowerbound on sensor timestamp * Add tests for fusion timeouts * Inline and const time check functions * Rename dead_reckoning time variable
86 lines
2.8 KiB
C++
86 lines
2.8 KiB
C++
/****************************************************************************
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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
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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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* 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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/**
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* Test the gps fusion
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#include <gtest/gtest.h>
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#include "EKF/ekf.h"
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#include "sensor_simulator/sensor_simulator.h"
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#include "sensor_simulator/ekf_wrapper.h"
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class EkfGpsTest : public ::testing::Test {
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public:
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EkfGpsTest(): ::testing::Test(),
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_ekf{std::make_shared<Ekf>()},
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_sensor_simulator(_ekf),
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_ekf_wrapper(_ekf) {};
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std::shared_ptr<Ekf> _ekf;
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SensorSimulator _sensor_simulator;
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EkfWrapper _ekf_wrapper;
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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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_ekf->init(0);
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_sensor_simulator.runSeconds(2);
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_ekf_wrapper.enableGpsFusion();
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_sensor_simulator.startGps();
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_sensor_simulator.runSeconds(11);
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}
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// Use this method to clean up any memory, network etc. after each test
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void TearDown() override
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{
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}
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};
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TEST_F(EkfGpsTest, gpsTimeout)
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{
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// GIVEN:EKF that fuses GPS
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// WHEN: setting the PDOP to high
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_sensor_simulator._gps.setNumberOfSatellites(3);
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// THEN: EKF should stop fusing GPS
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_sensor_simulator.runSeconds(20);
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// TODO: this is not happening as expected
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
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}
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