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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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6f484b652f
- tilt init use filtered accel/gyro on delayed time horizon - publish estimator_status on every EKF update (even if !_filter_initialised)
116 lines
3.7 KiB
C++
116 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 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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* Gyro-related tests (bias convergence, ...)
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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 EkfGyroscopeTest : public ::testing::Test
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{
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public:
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EkfGyroscopeTest(): ::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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// Init, then manually set in air and at rest (default for a real vehicle)
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_ekf->reset();
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_ekf->set_in_air_status(false);
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_ekf->set_vehicle_at_rest(true);
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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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void testBias(const Vector3f &bias, float duration, const Vector3f &tolerance);
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};
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void EkfGyroscopeTest::testBias(const Vector3f &bias, float duration, const Vector3f &tolerance)
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{
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_sensor_simulator._imu.setGyroData(bias);
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_sensor_simulator.runSeconds(duration);
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EXPECT_TRUE(_ekf->control_status_flags().vehicle_at_rest);
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const Vector3f estimated_bias = _ekf->getGyroBias();
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for (int i = 0; i < 3; i++) {
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EXPECT_NEAR(estimated_bias(i), bias(i), tolerance(i)) << "index " << i;
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}
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}
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TEST_F(EkfGyroscopeTest, biasEstimateZero)
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{
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testBias(Vector3f(), 10, Vector3f());
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}
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TEST_F(EkfGyroscopeTest, biasEstimatePositive)
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{
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// The estimate should track a slowly changing bias
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const float biases[4] = {0.001f, 0.002f, 0.0035f, 0.005f};
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Vector3f bias;
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for (int i = 0; i < 4; i ++) {
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bias.setAll(biases[i]);
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// The Z gyro bias takes more time to converge as the Z rotation variance is higher
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testBias(bias, 30, Vector3f(0.0008f, 0.0008f, 0.004f));
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}
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}
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TEST_F(EkfGyroscopeTest, biasEstimateNegative)
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{
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const float biases[4] = {-0.001f, -0.002f, -0.0035, -0.005f};
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Vector3f bias;
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for (int i = 0; i < 4; i ++) {
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bias.setAll(biases[i]);
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testBias(bias, 30, Vector3f(0.0008f, 0.0008f, 0.004f));
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}
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}
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