mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-13 05:17:35 +08:00
kamilritz
114 lines
4.2 KiB
C++
114 lines
4.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2020 ECL Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* Test the gps yaw fusion
|
|
* @author Kamil Ritz <ka.ritz@hotmail.com>
|
|
*/
|
|
|
|
#include <gtest/gtest.h>
|
|
#include "EKF/ekf.h"
|
|
#include "sensor_simulator/sensor_simulator.h"
|
|
#include "sensor_simulator/ekf_wrapper.h"
|
|
#include "test_helper/reset_logging_checker.h"
|
|
|
|
class EkfGpsHeadingTest : public ::testing::Test {
|
|
public:
|
|
|
|
EkfGpsHeadingTest(): ::testing::Test(),
|
|
_ekf{std::make_shared<Ekf>()},
|
|
_sensor_simulator(_ekf),
|
|
_ekf_wrapper(_ekf) {};
|
|
|
|
std::shared_ptr<Ekf> _ekf;
|
|
SensorSimulator _sensor_simulator;
|
|
EkfWrapper _ekf_wrapper;
|
|
|
|
// Setup the Ekf with synthetic measurements
|
|
void SetUp() override
|
|
{
|
|
_ekf->init(0);
|
|
_sensor_simulator.runSeconds(2);
|
|
_ekf_wrapper.enableGpsFusion();
|
|
_sensor_simulator.startGps();
|
|
_sensor_simulator.runSeconds(11);
|
|
}
|
|
};
|
|
|
|
TEST_F(EkfGpsHeadingTest, fusionStartWithReset)
|
|
{
|
|
// GIVEN:EKF that fuses GPS
|
|
|
|
// WHEN: enabling GPS heading fusion and heading difference is bigger than 15 degrees
|
|
const float gps_heading = _ekf_wrapper.getYawAngle() + math::radians(20.f);
|
|
_sensor_simulator._gps.setYaw(gps_heading);
|
|
_ekf_wrapper.enableGpsHeadingFusion();
|
|
const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
|
|
_sensor_simulator.runSeconds(0.2);
|
|
|
|
// THEN: GPS heading fusion should have started;
|
|
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion());
|
|
|
|
// AND: a reset to GPS heading is performed
|
|
EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
|
|
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), gps_heading, 0.001);
|
|
|
|
// WHEN: GPS heading is disabled
|
|
_sensor_simulator._gps.stop();
|
|
_sensor_simulator.runSeconds(11);
|
|
|
|
// THEN: after a while the fusion should be stopped
|
|
// TODO: THIS IS NOT HAPPENING
|
|
EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion());
|
|
}
|
|
|
|
TEST_F(EkfGpsHeadingTest, fusionStartWithoutReset)
|
|
{
|
|
// GIVEN:EKF that fuses GPS
|
|
|
|
// WHEN: enabling GPS heading fusion and heading difference is smaller than 15 degrees
|
|
const float gps_heading = _ekf_wrapper.getYawAngle() + math::radians(10.f);
|
|
_sensor_simulator._gps.setYaw(gps_heading);
|
|
_ekf_wrapper.enableGpsHeadingFusion();
|
|
const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
|
|
_sensor_simulator.runSeconds(0.2);
|
|
|
|
// THEN: GPS heading fusion should have started;
|
|
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion());
|
|
|
|
// AND: no reset to GPS heading should be performed
|
|
EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter);
|
|
|
|
// TODO: investigate why heading is not converging exactly to GPS heading
|
|
}
|