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c7bdf25663
* ekf_control: Inhibit mag fusion when field magnitude is large Move mag inhibition check in separate function * ekf_control: pull out of functionalities out of controlMagFusion - yaw abd mag bias observability checks - mag 3D conditions - load mag covariances - set and clear mag control modes * ekf_control: refactor mag heading/3D start/stop. Move mag declination, mag 3d and mag heading fusion out of the main function * ekf_control: extract mag yaw reset and mag declination fusion requirements * ekf_control: use WMM in isStronMagneticField for mag fusion inhibition - Correct units of WMM strength table * ekf_control: extract mag_state_only functionality of AUTOFW (VTOL custom) Also split inAirYawReset from onGroundYawReset * ekf_control: extract mag automatic selection - transform if-else into switch-case for parameter fusion type selection * ekf_control: extract run3DMagAndDeclFusion, reorganize functions, fix flag naming in Test script * ekf_control: do not run mag fusion if tilt is not aligned. Reset some variables on ground even if mag fusion is not running yet. It could be that it runs later so we need to make sure that those variables are properly set. * ekf_control: move controlMagFusion and related functions to mag_control.cpp * ekf control: check for validity of mag strength from WMM and falls back to average earth mag field with larger gate if not valid * ekf control: remove evyaw check for mag inhibition * ekf control: change nested ternary operator into if-else if * Ekf: create AlphaFilter template class for simple low-pass filtering 0.1/0.9 type low-pass filters are commonly used to smooth data, this class is meant to abstract the computation of this filter * ekf control: reset heading using mag_lpf data to avoid resetting on an outlier fixes ecl issue #525 * ekf control: replace mag_states_only flag with mag_field_disturbed and add parameter to enable or disable mag field strength check * ekf control: remove AUTOFW mag fusion type as not needed This was implemented for VTOL but did not solve the problem and should not be used anymore * ekf control: use start/stop mag functions everywhere instead of setting the flag * ekf control: Run mag fusion depending on yaw_align instead of tilt_align as there is no reason to fuse mag when the ekf isn't aligned * AlphaFilter: add test for float and Vector3f
296 lines
11 KiB
C++
296 lines
11 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 <cmath>
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#include "EKF/ekf.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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// Basics sensors
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const uint32_t _imu_dt_us{4000}; // 250 Hz Period between IMU updates
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const uint32_t _baro_dt_us{12500}; // 80 Hz Period between barometer updates
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const uint32_t _mag_dt_us{12500}; // 80 Hz Period between magnetometer updates
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const uint32_t _gps_dt_us{200000}; // 5 Hz Period between GPS updates
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// Flags that control if a sensor is fused
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bool _fuse_imu{true};
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bool _fuse_baro{true};
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bool _fuse_mag{true};
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bool _fuse_gps{false}; // GPS measurements are expected to not come in from beginning
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// GPS message
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gps_message _gps_message{};
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uint32_t _update_dt_us{}; // greatest common divider of all basic sensor periods
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const uint32_t _init_duration_us{2000000}; // 2s Duration of
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// counter of how many sensor measurement are put into Ekf
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uint32_t _counter_imu{0};
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uint32_t _counter_baro{0};
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uint32_t _counter_mag{0};
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uint32_t _t_us{0};
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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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// setup gps message to reasonable default values
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_gps_message.time_usec = 0;
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_gps_message.lat = 473566094;
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_gps_message.lon = 85190237;
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_gps_message.alt = 422056;
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_gps_message.yaw = 0.0f;
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_gps_message.yaw_offset = 0.0f;
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_gps_message.fix_type = 3;
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_gps_message.eph = 0.5f;
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_gps_message.epv = 0.8f;
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_gps_message.sacc = 0.2f;
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_gps_message.vel_m_s = 0.0;
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_gps_message.vel_ned[0] = 0.0f;
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_gps_message.vel_ned[1] = 0.0f;
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_gps_message.vel_ned[2] = 0.0f;
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_gps_message.vel_ned_valid = 1;
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_gps_message.nsats = 16;
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_gps_message.gdop = 0.0f;
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update_with_const_sensors(_init_duration_us);
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// output how many sensor measurement were put into the EKF
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// std::cout << "Initialized EKF with:" << std::endl;
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// std::cout << "update_dt_us: " << _update_dt_us << std::endl;
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// std::cout << "counter_imu: " << _counter_imu << std::endl
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// << "counter_baro: " << _counter_baro << std::endl
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// << "counter_mag: " << _counter_mag << std::endl;
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}
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void update_with_const_sensors(uint32_t duration_us,
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Vector3f ang_vel = Vector3f{0.0f,0.0f,0.0f},
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Vector3f accel = Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G},
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Vector3f mag_data = Vector3f{0.2f, 0.0f, 0.4f},
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float baro_data = 122.2f)
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{
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// store start time
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uint32_t start_time_us = _t_us;
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// compute update time step such that we can update the basic sensor at different rates
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_update_dt_us = std::__gcd(_imu_dt_us,std::__gcd(_mag_dt_us,std::__gcd(_baro_dt_us,_gps_dt_us)));
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// update EKF with synthetic sensor measurements
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for( ; _t_us < start_time_us+duration_us; _t_us += _update_dt_us)
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{
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// Check which sensors update we should do
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if(_fuse_imu && !(_t_us %_imu_dt_us))
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{
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// push imu data into estimator
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imuSample imu_sample_new;
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imu_sample_new.time_us = _t_us;
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imu_sample_new.delta_ang_dt = _imu_dt_us * 1.e-6f;
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imu_sample_new.delta_ang = ang_vel * imu_sample_new.delta_ang_dt;
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imu_sample_new.delta_vel_dt = _imu_dt_us * 1.e-6f;
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imu_sample_new.delta_vel = accel * imu_sample_new.delta_vel_dt;
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_ekf.setIMUData(imu_sample_new);
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_counter_imu++;
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}
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if(_fuse_baro && !(_t_us % _baro_dt_us))
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{
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_ekf.setBaroData(_t_us,baro_data);
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_counter_baro++;
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}
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if(_fuse_mag && !(_t_us % _mag_dt_us))
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{
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float mag[3];
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mag_data.copyTo(mag);
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_ekf.setMagData(_t_us,mag);
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_counter_mag++;
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}
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if(_fuse_gps && !(_t_us % _gps_dt_us))
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{
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_gps_message.time_usec = _t_us;
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_ekf.setGpsData(_t_us,_gps_message);
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_counter_mag++;
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}
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_ekf.update();
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}
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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(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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update_with_const_sensors(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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_fuse_gps = true;
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update_with_const_sensors(11000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}); // 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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_fuse_gps = true;
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update_with_const_sensors(10000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}+accel_bias); // for further 10s
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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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