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94 lines
3.5 KiB
94 lines
3.5 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2019 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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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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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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#include <gtest/gtest.h> |
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#include <math.h> |
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#include <memory> |
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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 "sensor_simulator/ekf_logger.h" |
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class EkfReplayTest : public ::testing::Test { |
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public: |
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EkfReplayTest(): ::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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_ekf_logger(_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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EkfLogger _ekf_logger; |
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}; |
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TEST_F(EkfReplayTest, irisGps) |
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{ |
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_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/iris_gps.csv"); |
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_ekf_logger.setFilePath("../../../test/change_indication/iris_gps.csv"); |
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// Start simulation and enable fusion of additional sensor types here |
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// By default the IMU, Baro and Mag sensor simulators are already running |
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_sensor_simulator.startGps(); |
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_ekf_wrapper.enableGpsFusion(); |
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uint8_t logging_rate_hz = 10; |
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for(int i = 0; i < 35 * logging_rate_hz; ++i) |
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{ |
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_sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz); |
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_ekf_logger.writeStateToFile(); |
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} |
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} |
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TEST_F(EkfReplayTest, ekfGsfReset) |
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{ |
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_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/ekf_gsf_reset.csv"); |
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_ekf_logger.setFilePath("../../../test/change_indication/ekf_gsf_reset.csv"); |
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// Start simulation and enable fusion of additional sensor types here |
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// By default the IMU, Baro and Mag sensor simulators are already running |
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_sensor_simulator.startGps(); |
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_ekf_wrapper.enableGpsFusion(); |
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auto params = _ekf->getParamHandle(); |
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params->gps_vel_innov_gate = 1.f; |
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params->gps_pos_innov_gate = 1.f; |
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params->EKFGSF_reset_delay = 500000; |
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uint8_t logging_rate_hz = 10; |
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for(int i = 0; i < 39 * logging_rate_hz; ++i) |
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{ |
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_sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz); |
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_ekf_logger.writeStateToFile(); |
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} |
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}
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