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202 lines
7.5 KiB
C++
202 lines
7.5 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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* 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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#include <gtest/gtest.h>
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#include <math.h>
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#include "EKF/ekf.h"
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#include "SensorSimulator/SensorSimulator.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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SensorSimulator* _sensor_simulator;
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// Duration of initalization with only providing baro,mag and IMU
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const uint32_t _init_duration_us{2000000}; // 2s
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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 = new Ekf();
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_ekf->init(0);
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_sensor_simulator = new SensorSimulator(_ekf);
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_sensor_simulator->run(_init_duration_us);
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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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delete _sensor_simulator;
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delete _ekf;
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}
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};
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TEST_F(EkfInitializationTest, tiltAlign)
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{
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// GIVEN: reasonable static sensor data for some duration
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// THEN: EKF should tilt align
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EXPECT_EQ(true,_ekf->attitude_valid());
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}
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TEST_F(EkfInitializationTest, initialControlMode)
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{
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// GIVEN: reasonable static sensor data for some duration
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// THEN: EKF control status should be reasonable
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filter_control_status_u control_status;
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_ekf->get_control_mode(&control_status.value);
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EXPECT_EQ(1, (int) control_status.flags.tilt_align);
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EXPECT_EQ(1, (int) control_status.flags.yaw_align);
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EXPECT_EQ(0, (int) control_status.flags.gps);
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EXPECT_EQ(0, (int) control_status.flags.opt_flow);
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EXPECT_EQ(1, (int) control_status.flags.mag_hdg);
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EXPECT_EQ(0, (int) control_status.flags.mag_3D);
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EXPECT_EQ(0, (int) control_status.flags.mag_dec);
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EXPECT_EQ(0, (int) control_status.flags.in_air);
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EXPECT_EQ(0, (int) control_status.flags.wind);
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EXPECT_EQ(1, (int) control_status.flags.baro_hgt);
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EXPECT_EQ(0, (int) control_status.flags.rng_hgt);
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EXPECT_EQ(0, (int) control_status.flags.gps_hgt);
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EXPECT_EQ(0, (int) control_status.flags.ev_pos);
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EXPECT_EQ(0, (int) control_status.flags.ev_yaw);
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EXPECT_EQ(0, (int) control_status.flags.ev_hgt);
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EXPECT_EQ(0, (int) control_status.flags.fuse_beta);
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EXPECT_EQ(0, (int) control_status.flags.mag_field_disturbed);
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EXPECT_EQ(0, (int) control_status.flags.fixed_wing);
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EXPECT_EQ(0, (int) control_status.flags.mag_fault);
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EXPECT_EQ(0, (int) control_status.flags.gnd_effect);
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EXPECT_EQ(0, (int) control_status.flags.rng_stuck);
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EXPECT_EQ(0, (int) control_status.flags.gps_yaw);
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EXPECT_EQ(0, (int) control_status.flags.mag_aligned_in_flight);
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EXPECT_EQ(0, (int) control_status.flags.ev_vel);
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EXPECT_EQ(0, (int) control_status.flags.synthetic_mag_z);
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}
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TEST_F(EkfInitializationTest, convergesToZero)
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{
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// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
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// WHEN: Added more defautl sensor measurements
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_sensor_simulator->run(4000000); // for further 4s
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float converged_pos[3];
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float converged_vel[3];
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float converged_accel_bias[3];
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float converged_gyro_bias[3];
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_ekf->get_position(converged_pos);
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_ekf->get_velocity(converged_vel);
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_ekf->get_accel_bias(converged_accel_bias);
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_ekf->get_gyro_bias(converged_gyro_bias);
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// THEN: EKF should stay or converge to zero
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for(int i=0; i<3; ++i)
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{
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EXPECT_NEAR(0.0f,converged_pos[i],0.001f);
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EXPECT_NEAR(0.0f,converged_vel[i],0.001f);
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EXPECT_NEAR(0.0f,converged_accel_bias[i],0.001f);
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EXPECT_NEAR(0.0f,converged_gyro_bias[i],0.001f);
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}
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}
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TEST_F(EkfInitializationTest, gpsFusion)
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{
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// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
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// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec
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_sensor_simulator->startGps();
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_sensor_simulator->run(11000000); // for further 3s
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// THEN: EKF should fuse GPS, but no other position sensor
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filter_control_status_u control_status;
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_ekf->get_control_mode(&control_status.value);
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EXPECT_EQ(1, (int) control_status.flags.tilt_align);
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EXPECT_EQ(1, (int) control_status.flags.yaw_align);
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EXPECT_EQ(1, (int) control_status.flags.gps);
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EXPECT_EQ(0, (int) control_status.flags.opt_flow);
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EXPECT_EQ(1, (int) control_status.flags.mag_hdg);
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EXPECT_EQ(0, (int) control_status.flags.mag_3D);
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EXPECT_EQ(0, (int) control_status.flags.mag_dec);
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EXPECT_EQ(0, (int) control_status.flags.in_air);
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EXPECT_EQ(0, (int) control_status.flags.wind);
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EXPECT_EQ(1, (int) control_status.flags.baro_hgt);
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EXPECT_EQ(0, (int) control_status.flags.rng_hgt);
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EXPECT_EQ(0, (int) control_status.flags.gps_hgt);
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EXPECT_EQ(0, (int) control_status.flags.ev_pos);
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EXPECT_EQ(0, (int) control_status.flags.ev_yaw);
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EXPECT_EQ(0, (int) control_status.flags.ev_hgt);
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EXPECT_EQ(0, (int) control_status.flags.fuse_beta);
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EXPECT_EQ(0, (int) control_status.flags.mag_field_disturbed);
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EXPECT_EQ(0, (int) control_status.flags.fixed_wing);
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EXPECT_EQ(0, (int) control_status.flags.mag_fault);
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EXPECT_EQ(0, (int) control_status.flags.gnd_effect);
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EXPECT_EQ(0, (int) control_status.flags.rng_stuck);
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EXPECT_EQ(0, (int) control_status.flags.gps_yaw);
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EXPECT_EQ(0, (int) control_status.flags.mag_aligned_in_flight);
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EXPECT_EQ(0, (int) control_status.flags.ev_vel);
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EXPECT_EQ(0, (int) control_status.flags.synthetic_mag_z);
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}
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TEST_F(EkfInitializationTest, accleBiasEstimation)
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{
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// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
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// WHEN: Added more sensor measurements with accel bias and gps measurements
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Vector3f accel_bias = {0.0f,0.0f,0.1f};
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_sensor_simulator->startGps();
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_sensor_simulator->setImuBias(accel_bias, Vector3f{0.0f,0.0f,0.0f});
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_sensor_simulator->run(10000000);
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float converged_pos[3];
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float converged_vel[3];
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float converged_accel_bias[3];
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float converged_gyro_bias[3];
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_ekf->get_position(converged_pos);
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_ekf->get_velocity(converged_vel);
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_ekf->get_accel_bias(converged_accel_bias);
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_ekf->get_gyro_bias(converged_gyro_bias);
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// THEN: EKF should estimate bias correctelly
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for(int i=0; i<3; ++i)
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{
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EXPECT_NEAR(0.0f,converged_pos[i],0.001f) << "i: " << i;
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EXPECT_NEAR(0.0f,converged_vel[i],0.001f) << "i: " << i;
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EXPECT_NEAR(accel_bias(i),converged_accel_bias[i],0.001f) << "i: " << i;
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EXPECT_NEAR(0.0f,converged_gyro_bias[i],0.001f) << "i: " << i;
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}
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}
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// TODO: Add sampling tests
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