/**************************************************************************** * * 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 #include #include "EKF/ekf.h" #include "EKF/imu_down_sampler.hpp" class EkfImuSamplingTest : public ::testing::TestWithParam> { 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(EkfImuSamplingTest, 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= std::get<2>(GetParam()); Vector3f accel = std::get<3>(GetParam()); imuSample imu_sample; imu_sample.delta_ang_dt = dt_us * 1.0e-6f; imu_sample.delta_ang = ang_vel * imu_sample.delta_ang_dt; imu_sample.delta_vel_dt = dt_us * 1.0e-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 int n_samples = 0; for(int i = 0; i<(int)20/std::get<0>(GetParam()); ++i) { n_samples++; 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 // Allow for accumulation of rounding error with each sample EXPECT_TRUE(matrix::isEqual(ang_vel, imu_sample_buffered.delta_ang/imu_sample_buffered.delta_ang_dt, float(n_samples) * 1e-7f)); EXPECT_TRUE(matrix::isEqual(accel, imu_sample_buffered.delta_vel/imu_sample_buffered.delta_vel_dt, float(n_samples) * 1e-7f)); } INSTANTIATE_TEST_SUITE_P(imuSamplingAtMultipleRates, EkfImuSamplingTest, ::testing::Values( std::make_tuple(1.0f, 1.0f,Vector3f{0.0f,0.0f,0.0f},Vector3f{-0.46f,0.87f,0.20f}), std::make_tuple(0.5f, 1.0f,Vector3f{0.0f,0.0f,0.0f},Vector3f{-0.46f,0.87f,0.20f}), std::make_tuple(1.6f, 1.6f,Vector3f{0.0f,0.0f,0.0f},Vector3f{-0.46f,0.87f,0.20f}), std::make_tuple(0.333f,1.0f,Vector3f{0.0f,0.0f,0.0f},Vector3f{-0.46f,0.87f,0.20f}), std::make_tuple(1.0f, 1.0f,Vector3f{1.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(0.5f, 1.0f,Vector3f{1.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(1.6f, 1.6f,Vector3f{1.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(0.333f,1.0f,Vector3f{1.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(1.0f, 1.0f,Vector3f{0.0f,1.0f,0.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(0.5f, 1.0f,Vector3f{0.0f,1.0f,0.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(1.6f, 1.6f,Vector3f{0.0f,1.0f,0.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(0.333f,1.0f,Vector3f{0.0f,1.0f,0.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(1.0f, 1.0f,Vector3f{0.0f,0.0f,1.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(0.5f, 1.0f,Vector3f{0.0f,0.0f,1.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(1.6f, 1.6f,Vector3f{0.0f,0.0f,1.0f},Vector3f{0.0f,0.0f,0.0f}), std::make_tuple(0.333f,1.0f,Vector3f{0.0f,0.0f,1.0f},Vector3f{0.0f,0.0f,0.0f}) )); TEST_F(EkfImuSamplingTest, accelDownSampling) { ImuDownSampler sampler(0.008f); Vector3f ang_vel{0.0f,0.0f,0.0f}; Vector3f accel{-0.46f,0.87f,0.0f}; imuSample input_sample; input_sample.delta_ang_dt = 0.004f; input_sample.delta_ang = ang_vel * input_sample.delta_ang_dt; input_sample.delta_vel_dt = 0.004f; input_sample.delta_vel = accel * input_sample.delta_vel_dt; input_sample.time_us = 0; // WHEN: adding samples at the double rate as the target rate EXPECT_FALSE(sampler.update(input_sample)); input_sample.time_us = 4000; // THEN: after two samples a first downsampled sample is ready EXPECT_TRUE(sampler.update(input_sample)); // THEN: downsampled sample should fit to input data imuSample output_sample = sampler.getDownSampledImuAndTriggerReset(); EXPECT_FLOAT_EQ(output_sample.delta_ang_dt, 0.008f); EXPECT_FLOAT_EQ(output_sample.delta_vel_dt, 0.008f); EXPECT_TRUE(matrix::isEqual(ang_vel * 0.008f, output_sample.delta_ang, 1e-10f)); EXPECT_TRUE(matrix::isEqual(accel * 0.008f, output_sample.delta_vel, 1e-10f)); } TEST_F(EkfImuSamplingTest, gyroDownSampling) { ImuDownSampler sampler(0.008f); Vector3f ang_vel{0.0f,0.0f,1.0f}; Vector3f accel{0.0f,0.0f,0.0f}; imuSample input_sample; input_sample.delta_ang_dt = 0.004f; input_sample.delta_ang = ang_vel * input_sample.delta_ang_dt; input_sample.delta_vel_dt = 0.004f; input_sample.delta_vel = accel * input_sample.delta_vel_dt; input_sample.time_us = 0; // WHEN: adding samples at the double rate as the target rate EXPECT_FALSE(sampler.update(input_sample)); input_sample.time_us += 4000; // THEN: after two samples a first downsampled sample is ready EXPECT_TRUE(sampler.update(input_sample)); input_sample.time_us += 4000; // THEN: downsampled sample should fit to input data imuSample output_sample = sampler.getDownSampledImuAndTriggerReset(); EXPECT_FLOAT_EQ(output_sample.delta_ang_dt, 0.008f); EXPECT_FLOAT_EQ(output_sample.delta_vel_dt, 0.008f); EXPECT_TRUE(matrix::isEqual(ang_vel * 0.008f, output_sample.delta_ang, 1e-10f)); EXPECT_TRUE(matrix::isEqual(accel * 0.008f, output_sample.delta_vel, 1e-10f)); ang_vel = Vector3f{0.0f,1.0f,0.0f}; input_sample.delta_ang = ang_vel * input_sample.delta_ang_dt; input_sample.delta_vel = accel * input_sample.delta_vel_dt; // WHEN: adding samples at the double rate as the target rate EXPECT_FALSE(sampler.update(input_sample)); input_sample.time_us += 4000; // THEN: after two more samples a second downsampled sample is ready EXPECT_TRUE(sampler.update(input_sample)); input_sample.time_us += 4000; // THEN: downsampled sample should fit the adapted input data output_sample = sampler.getDownSampledImuAndTriggerReset(); EXPECT_FLOAT_EQ(output_sample.delta_ang_dt, 0.008f); EXPECT_FLOAT_EQ(output_sample.delta_vel_dt, 0.008f); EXPECT_TRUE(matrix::isEqual(ang_vel * 0.008f, output_sample.delta_ang, 1e-10f)); EXPECT_TRUE(matrix::isEqual(accel * 0.008f, output_sample.delta_vel, 1e-10f)); ang_vel = Vector3f{1.0f,0.0f,0.0f}; input_sample.delta_ang = ang_vel * input_sample.delta_ang_dt; input_sample.delta_vel = accel * input_sample.delta_vel_dt; // WHEN: adding samples at the double rate as the target rate EXPECT_FALSE(sampler.update(input_sample)); input_sample.time_us += 4000; // THEN: after two more samples a second downsampled sample is ready EXPECT_TRUE(sampler.update(input_sample)); input_sample.time_us += 4000; // THEN: downsampled sample should fit the adapted input data output_sample = sampler.getDownSampledImuAndTriggerReset(); EXPECT_FLOAT_EQ(output_sample.delta_ang_dt, 0.008f); EXPECT_FLOAT_EQ(output_sample.delta_vel_dt, 0.008f); EXPECT_TRUE(matrix::isEqual(ang_vel * 0.008f, output_sample.delta_ang, 1e-10f)); EXPECT_TRUE(matrix::isEqual(accel * 0.008f, output_sample.delta_vel, 1e-10f)); }