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99 lines
3.3 KiB
C++
99 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2025 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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/**
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* Test EKF altitude estimation while grounded and using Rangefinder as primary alt source
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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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#include "test_helper/reset_logging_checker.h"
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class EkfGroundedTest : public ::testing::Test
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{
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public:
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EkfGroundedTest(): ::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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void SetUp() override
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{
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// Init EKF
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_ekf->init(0);
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_sensor_simulator.runSeconds(0.1);
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_ekf->set_in_air_status(false);
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_ekf->set_vehicle_at_rest(true);
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_sensor_simulator._rng.setData(0.1f, 100);
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_sensor_simulator._rng.setLimits(0.1f, 25.f);
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_sensor_simulator.startGps();
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_sensor_simulator.startBaro();
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_sensor_simulator.startRangeFinder();
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// Set Range as primary height source
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_ekf_wrapper.setRangeHeightRef();
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// Enable fusion for all height sources
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_ekf_wrapper.enableBaroHeightFusion();
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_ekf_wrapper.enableGpsHeightFusion();
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_ekf_wrapper.enableRangeHeightFusion();
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// Give EKF time for GPS
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_sensor_simulator.runSeconds(20);
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}
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};
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TEST_F(EkfGroundedTest, rangeFinderOnGround)
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{
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EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::RANGE);
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EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
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EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
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float distance = 0.17f;
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_sensor_simulator._rng.setData(distance, 100);
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_sensor_simulator.runSeconds(60);
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EXPECT_NEAR(_ekf->getLatLonAlt().altitude(), 0, 0.5f);
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}
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