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3927c183de
an airpseed of > 2m/s is required to start the fusion (set by param) fw mode is also required Given the larger estimated windspeed after those changes, the change of static pressure is larger and the height estimate takes more time to reach the final value
123 lines
4.6 KiB
C++
123 lines
4.6 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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* 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 fusion of airspeed data
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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 EkfAirspeedTest : public ::testing::Test
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{
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public:
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EkfAirspeedTest(): ::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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_quat_sim(Eulerf(0.0f, 0.0f, math::radians(45.0f))) {};
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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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const Quatf _quat_sim;
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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.simulateOrientation(_quat_sim);
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_sensor_simulator.runSeconds(7);
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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(EkfAirspeedTest, testWindVelocityEstimation)
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{
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const Vector3f simulated_velocity_earth(0.0f, 1.5f, 0.0f);
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const Vector2f airspeed_body(2.4f, 0.0f);
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_ekf_wrapper.enableExternalVisionVelocityFusion();
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_sensor_simulator._vio.setVelocity(simulated_velocity_earth);
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_sensor_simulator.startExternalVision();
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_ekf->set_in_air_status(true);
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_ekf->set_is_fixed_wing(true);
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_sensor_simulator.startAirspeedSensor();
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_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
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// Wind estimation is rather slow
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_sensor_simulator.runSeconds(15);
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EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
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const Vector3f vel = _ekf->getVelocity();
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const Vector2f vel_wind_earth = _ekf->getWindVelocity();
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const float height_before_pressure_correction = _ekf->getPosition()(2);
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const Dcmf R_to_earth_sim(_quat_sim);
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EXPECT_TRUE(matrix::isEqual(vel, simulated_velocity_earth));
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const Vector3f vel_wind_expected = simulated_velocity_earth - R_to_earth_sim * (Vector3f(airspeed_body(0),
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airspeed_body(1), 0.0f));
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EXPECT_TRUE(matrix::isEqual(vel_wind_earth, Vector2f(vel_wind_expected.slice<2, 1>(0, 0))));
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EXPECT_NEAR(height_before_pressure_correction, 0.0f, 1e-5f);
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// Apply height correction
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const float static_pressure_coef_xp = 1.0f;
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const float static_pressure_coef_yp = -1.0f; // not used as wind direction is along x axis
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parameters *_params = _ekf->getParamHandle();
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_params->static_pressure_coef_xp = static_pressure_coef_xp;
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_params->static_pressure_coef_yp = static_pressure_coef_yp;
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float expected_height_difference = 0.5f * static_pressure_coef_xp * airspeed_body(0) * airspeed_body(
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0) / CONSTANTS_ONE_G;
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_sensor_simulator.runSeconds(20);
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const float height_after_pressure_correction = _ekf->getPosition()(2);
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// height increase means that state z decrease due to z axis pointing down
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const float expected_height_after_pressure_correction = height_before_pressure_correction -
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expected_height_difference;
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EXPECT_NEAR(height_after_pressure_correction, expected_height_after_pressure_correction, 1e-2f);
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}
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