pytest are replaced in gtests

test/CMakeLists.txt

@@ -37,6 +37,7 @@ set(SRCS
 	main.cpp
 	test_EKF_basics.cpp
 	test_EKF_ringbuffer.cpp
+	test_EKF_imuSampling.cpp
    )
 add_executable(ECL_GTESTS ${SRCS})
 

test/test_EKF_imuSampling.cpp

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <cmath>
+#include "EKF/ekf.h"
+
+class EkfSamplingTestParametrized : public ::testing::TestWithParam<std::tuple<float,float>>
+{
+ public:
+
+	Ekf _ekf{};
+
+	uint32_t _t_us{0};
+
+	// Setup the Ekf with synthetic measurements
+	void SetUp() override
+	{
+		_ekf.init(0);
+
+	}
+
+	void TearDown() override
+	{
+
+	}
+};
+
+TEST_P(EkfSamplingTestParametrized, imuSamplingAtMultipleRates)
+{
+	// WHEN: adding imu samples at a higher rate than the update loop
+	// THEN: imu sample should be down sampled
+	// WHEN: adding imu samples at a same or lower rate than the update loop
+	// THEN: imu sample should reach buffer unchanged
+
+	uint32_t dt_us = std::get<0>(GetParam()) * (_ekf.FILTER_UPDATE_PERIOD_MS * 1000);
+	uint32_t expected_dt_us = std::get<1>(GetParam()) * (_ekf.FILTER_UPDATE_PERIOD_MS * 1000);
+
+	Vector3f ang_vel{0.0f,0.0f,0.0f};
+	Vector3f accel{-0.46f,0.87f,0.0f};
+	imuSample imu_sample;
+	imu_sample.delta_ang_dt = dt_us * 1.e-6f;
+	imu_sample.delta_ang = ang_vel * imu_sample.delta_ang_dt;
+	imu_sample.delta_vel_dt = dt_us * 1.e-6f;
+	imu_sample.delta_vel = accel * imu_sample.delta_vel_dt;
+
+	// The higher the imu rate is the more measurements we have to set before reaching the FILTER_UPDATE_PERIOD
+	for(int i = 0; i<(int)20/std::get<0>(GetParam()); ++i)
+	{
+		imu_sample.time_us = _t_us;
+		_ekf.setIMUData(imu_sample);
+		_t_us += dt_us;
+	}
+
+	// Get the imu sample that was put into the buffer
+	imuSample imu_sample_buffered = _ekf.get_imu_sample_delayed();
+	EXPECT_NEAR(expected_dt_us / 1e6f, imu_sample_buffered.delta_ang_dt, 1e-5f);
+	EXPECT_NEAR(expected_dt_us / 1e6f, imu_sample_buffered.delta_vel_dt, 1e-5f);
+
+	// WHEN: downsampling the imu measurement
+	// THEN: the delta vel should be accumulated correctly
+	EXPECT_NEAR(ang_vel(0), imu_sample_buffered.delta_ang(0)/imu_sample_buffered.delta_ang_dt, 1e-3f);
+	EXPECT_NEAR(ang_vel(1), imu_sample_buffered.delta_ang(1)/imu_sample_buffered.delta_ang_dt, 1e-3f);
+	EXPECT_NEAR(ang_vel(2), imu_sample_buffered.delta_ang(2)/imu_sample_buffered.delta_ang_dt, 1e-3f);
+	EXPECT_NEAR(accel(0), imu_sample_buffered.delta_vel(0)/imu_sample_buffered.delta_vel_dt, 1e-3f);
+	EXPECT_NEAR(accel(1), imu_sample_buffered.delta_vel(1)/imu_sample_buffered.delta_vel_dt, 1e-3f);
+	EXPECT_NEAR(accel(2), imu_sample_buffered.delta_vel(2)/imu_sample_buffered.delta_vel_dt, 1e-3f);
+
+}
+
+INSTANTIATE_TEST_CASE_P(imuSamplingAtMultipleRates,
+			EkfSamplingTestParametrized,
+			::testing::Values(
+				std::make_tuple<float,float>(1.0f,1.0f),
+				std::make_tuple<float,float>(1.6f,1.6f),
+				std::make_tuple<float,float>(0.333f,1.0f)
+			));
+
+// TODO:
+// """Make sure the acceleration is updated correctly when there is no angular velocity (test with and without downsampling) Tests random accelerations in x, y, z directions (using the hypothesis decorator) with different update frequencies (using pytest's parametrize decorator)
+// """Make sure the timing is updated correctly If the imu update is faster than the filter period, it should be downsampled, otherwise used as is.
+// Feed in baro data at 50 Hz (too fast), check if filter samples correctly
+// Feed in mag data at 50 Hz (too fast), check if filter samples correctly

test/test_EKF_sampling.cpp

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <cmath>
+#include "EKF/ekf.h"
+
+class EkfImuSamplingTestParametrized : public ::testing::TestWithParam<std::tuple<float,float>>
+{
+ public:
+
+	Ekf _ekf{};
+
+	uint32_t _t_us{0};
+
+	// Setup the Ekf with synthetic measurements
+	void SetUp() override
+	{
+		_ekf.init(0);
+
+	}
+
+	void TearDown() override
+	{
+
+	}
+};
+
+TEST_P(EkfImuSamplingTestParametrized, imuSamplingAtMultipleRates)
+{
+	// WHEN: adding imu samples at a higher rate than the update loop
+	// THEN: imu sample should be down sampled
+	// WHEN: adding imu samples at a same or lower rate than the update loop
+	// THEN: imu sample should reach buffer unchanged
+
+	uint32_t dt_us = std::get<0>(GetParam()) * (_ekf.FILTER_UPDATE_PERIOD_MS * 1000);
+	uint32_t expected_dt_us = std::get<1>(GetParam()) * (_ekf.FILTER_UPDATE_PERIOD_MS * 1000);
+
+	Vector3f ang_vel{0.0f,0.0f,0.0f};
+	Vector3f accel{-0.46f,0.87f,0.0f};
+	imuSample imu_sample;
+	imu_sample.delta_ang_dt = dt_us * 1.e-6f;
+	imu_sample.delta_ang = ang_vel * imu_sample.delta_ang_dt;
+	imu_sample.delta_vel_dt = dt_us * 1.e-6f;
+	imu_sample.delta_vel = accel * imu_sample.delta_vel_dt;
+
+	// The higher the imu rate is the more measurements we have to set before reaching the FILTER_UPDATE_PERIOD
+	for(int i = 0; i<(int)20/std::get<0>(GetParam()); ++i)
+	{
+		imu_sample.time_us = _t_us;
+		_ekf.setIMUData(imu_sample);
+		_t_us += dt_us;
+	}
+
+	// Get the imu sample that was put into the buffer
+	imuSample imu_sample_buffered = _ekf.get_imu_sample_delayed();
+	EXPECT_NEAR(expected_dt_us / 1e6f, imu_sample_buffered.delta_ang_dt, 1e-5f);
+	EXPECT_NEAR(expected_dt_us / 1e6f, imu_sample_buffered.delta_vel_dt, 1e-5f);
+
+	// WHEN: downsampling the imu measurement
+	// THEN: the delta vel should be accumulated correctly
+	EXPECT_NEAR(ang_vel(0), imu_sample_buffered.delta_ang(0)/imu_sample_buffered.delta_ang_dt, 1e-3f);
+	EXPECT_NEAR(ang_vel(1), imu_sample_buffered.delta_ang(1)/imu_sample_buffered.delta_ang_dt, 1e-3f);
+	EXPECT_NEAR(ang_vel(2), imu_sample_buffered.delta_ang(2)/imu_sample_buffered.delta_ang_dt, 1e-3f);
+	EXPECT_NEAR(accel(0), imu_sample_buffered.delta_vel(0)/imu_sample_buffered.delta_vel_dt, 1e-3f);
+	EXPECT_NEAR(accel(1), imu_sample_buffered.delta_vel(1)/imu_sample_buffered.delta_vel_dt, 1e-3f);
+	EXPECT_NEAR(accel(2), imu_sample_buffered.delta_vel(2)/imu_sample_buffered.delta_vel_dt, 1e-3f);
+
+}
+
+INSTANTIATE_TEST_CASE_P(imuSamplingAtMultipleRates,
+			EkfImuSamplingTestParametrized,
+			::testing::Values(
+				std::make_tuple<float,float>(1.0f,1.0f),
+				std::make_tuple<float,float>(1.6f,1.6f),
+				std::make_tuple<float,float>(0.333f,1.0f)
+			));