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103 lines
3.5 KiB
C++
103 lines
3.5 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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/**
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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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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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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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}
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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(1.5f,0.0f,0.0f);
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_ekf_wrapper.enableExternalVisionVelocityFusion();
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_sensor_simulator._vio.setVelocity(simulated_velocity);
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_sensor_simulator.startExternalVision();
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_ekf->set_in_air_status(true);
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_sensor_simulator.startAirspeedSensor();
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_sensor_simulator._airspeed.setData(0.1f,0.1f);
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_sensor_simulator.runSeconds(40);
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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_TRUE(control_status.flags.wind);
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
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EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
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EXPECT_TRUE(_ekf->local_position_is_valid());
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EXPECT_FALSE(_ekf->global_position_is_valid());
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const Vector3f vel = _ekf_wrapper.getVelocity();
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const Vector2f vel_wind = _ekf_wrapper.getWindVelocity();
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EXPECT_TRUE(matrix::isEqual(vel, simulated_velocity));
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EXPECT_TRUE(matrix::isEqual(vel_wind, Vector2f{1.4f, 0.0f}));
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}
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