You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
78 lines
2.7 KiB
78 lines
2.7 KiB
/**************************************************************************** |
|
* |
|
* 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 <math.h> |
|
#include "EKF/ekf.h" |
|
|
|
class EkfMeasurementSamplingTest : public ::testing::Test |
|
{ |
|
public: |
|
EkfMeasurementSamplingTest(): ::testing::Test(), |
|
_ekf{std::make_shared<Ekf>()}{}; |
|
|
|
std::shared_ptr<Ekf> _ekf; |
|
|
|
void SetUp() override |
|
{ |
|
_ekf->init(0); |
|
} |
|
}; |
|
|
|
TEST_F(EkfMeasurementSamplingTest, baroDownSampling) |
|
{ |
|
// Need to send imu samples to initialise |
|
imuSample imu_sample; |
|
|
|
// WHEN: baro data = {1, -1 , 1, -1, ...} being set at high rate |
|
int baro_rate_Hz = 10000; |
|
uint64_t time = 0; |
|
float baro_data = 1.0f; |
|
for(int i = 0; i < 2 * baro_rate_Hz; i++) |
|
{ |
|
if(i % 100 == 0) |
|
{ |
|
// send imu data at a 100 times lower rate |
|
imu_sample.time_us = time; |
|
_ekf->setIMUData(imu_sample); |
|
} |
|
_ekf->setBaroData(baroSample{time, baro_data}); |
|
baro_data *= -1.0f; |
|
time += 1000000 / baro_rate_Hz; |
|
} |
|
_ekf->update(); |
|
|
|
// THEN: average and buffered baro dato should be close to zero |
|
baroSample baro_sample_from_buffer = _ekf->get_baro_sample_delayed(); |
|
EXPECT_NEAR(baro_sample_from_buffer.hgt, 0.0f, 0.01f); |
|
}
|
|
|