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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 20:40:35 +08:00
Daniel Agar
ca893e55a5
- add a common resetMagStates() that uses the WMM to reinit mag states (I & B) if possible
117 lines
4.2 KiB
C++
117 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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 yaw estimator
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* @author Mathieu Bresciani <mathieu@auterion.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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#include "test_helper/reset_logging_checker.h"
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class EKFYawEstimatorTest : public ::testing::Test
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{
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public:
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EKFYawEstimatorTest(): ::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 mag aiding disabled
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void SetUp() override
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{
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// run briefly to init, then manually set in air and at rest (default for a real vehicle)
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_ekf->init(0);
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_sensor_simulator.runSeconds(0.1);
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_ekf->set_in_air_status(false);
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_ekf->set_vehicle_at_rest(true);
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_ekf_wrapper.setMagFuseTypeNone();
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_sensor_simulator.runSeconds(2);
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_ekf_wrapper.enableGpsFusion();
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_sensor_simulator.startGps();
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_sensor_simulator.runSeconds(11);
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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(EKFYawEstimatorTest, inAirYawAlignment)
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{
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// GIVEN: an accelerating vehicle with unknown heading
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EXPECT_EQ(1, (int) _ekf->control_status_flags().tilt_align);
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EXPECT_EQ(0, (int) _ekf->control_status_flags().yaw_align);
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// AND: a true heading far from North
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const float yaw = math::radians(-130.f);
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const Dcmf R_to_earth{Eulerf(0.f, 0.f, yaw)};
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_sensor_simulator.setOrientation(R_to_earth);
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// WHEN: the vehicle starts accelerating in the horizontal plane
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_sensor_simulator.setTrajectoryTargetVelocity(Vector3f(2.f, -2.f, -1.f));
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_ekf->set_in_air_status(true);
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ResetLoggingChecker reset_logging_checker(_ekf);
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reset_logging_checker.capturePreResetState();
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_sensor_simulator.runTrajectorySeconds(3.f);
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// THEN: the heading can be estimated and then used to fuse GNSS vel and pos to the main EKF
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float yaw_est{};
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float yaw_est_var{};
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float dummy[5];
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_ekf->getDataEKFGSF(&yaw_est, &yaw_est_var, dummy, dummy, dummy, dummy);
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const float tolerance_rad = math::radians(5.f);
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EXPECT_NEAR(yaw_est, yaw, tolerance_rad);
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EXPECT_LT(yaw_est_var, tolerance_rad);
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// 1 reset after IMU+GNSS yaw alignment
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reset_logging_checker.capturePostResetState();
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EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
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EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1));
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EXPECT_TRUE(_ekf->local_position_is_valid());
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EXPECT_TRUE(_ekf->global_position_is_valid());
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}
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