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185 lines
6.8 KiB
185 lines
6.8 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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/** |
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* Test the fusion start and stop logic |
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* @author Kamil Ritz <ka.ritz@hotmail.com> |
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*/ |
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#include <gtest/gtest.h> |
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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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class EkfFusionLogicTest : public ::testing::Test { |
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public: |
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EkfFusionLogicTest(): ::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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std::shared_ptr<Ekf> _ekf; |
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SensorSimulator _sensor_simulator; |
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EkfWrapper _ekf_wrapper; |
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// Setup the Ekf with synthetic measurements |
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void SetUp() override |
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{ |
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_ekf->init(0); |
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_sensor_simulator.runSeconds(2); |
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} |
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// Use this method to clean up any memory, network etc. after each test |
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void TearDown() override |
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{ |
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} |
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}; |
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TEST_F(EkfFusionLogicTest, doGpsFusion) |
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{ |
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// GIVEN: a tilt and heading aligned filter |
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// WHEN: we enable GPS fusion and we send good quality gps data for 11s |
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_ekf_wrapper.enableGpsFusion(); |
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_sensor_simulator.startGps(); |
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_sensor_simulator.runSeconds(11); |
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// THEN: EKF should intend to fuse GPS |
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); |
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// THEN: Local and global position should be valid |
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EXPECT_TRUE(_ekf->local_position_is_valid()); |
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EXPECT_TRUE(_ekf->global_position_is_valid()); |
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// WHEN: GPS data is not send for 11s |
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_sensor_simulator.stopGps(); |
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_sensor_simulator.runSeconds(11); |
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// THEN: EKF should stop to intend to fuse GPS |
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EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion()); |
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EXPECT_FALSE(_ekf->local_position_is_valid()); |
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EXPECT_FALSE(_ekf->global_position_is_valid()); |
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// WHEN: GPS data is send again for 11s |
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_sensor_simulator.startGps(); |
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_sensor_simulator.runSeconds(11); |
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// THEN: EKF should to intend to fuse GPS |
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); |
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EXPECT_TRUE(_ekf->local_position_is_valid()); |
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EXPECT_TRUE(_ekf->global_position_is_valid()); |
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// // WHEN: clients decides to stop GPS fusion |
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// _ekf_wrapper.disableGpsFusion(); |
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// // THEN: EKF should stop to intend to fuse GPS immediately |
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// _sensor_simulator.runMicroseconds(1000); |
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// EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion()); |
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// THIS is not happening at the moment |
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} |
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TEST_F(EkfFusionLogicTest, rejectGpsSignalJump) |
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{ |
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// GIVEN: a tilt and heading aligned filter |
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// WHEN: we enable GPS fusion and we send good quality gps data for 11s |
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_ekf_wrapper.enableGpsFusion(); |
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_sensor_simulator.startGps(); |
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_sensor_simulator.runSeconds(15); |
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// THEN: EKF should intend to fuse GPS |
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); |
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// WHEN: Having a big horizontal position Gps jump coming from the Gps Receiver |
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Vector3f pos_old = _ekf_wrapper.getPosition(); |
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Vector3f vel_old = _ekf_wrapper.getVelocity(); |
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Vector3f accel_bias_old = _ekf_wrapper.getAccelBias(); |
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_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f{10.0f, 0.0f}); |
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_sensor_simulator.runSeconds(2); |
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// THEN: The estimate should not change much in the short run |
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// and GPS fusion should be stopped after a while. |
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Vector3f pos_new = _ekf_wrapper.getPosition(); |
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Vector3f vel_new = _ekf_wrapper.getVelocity(); |
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Vector3f accel_bias_new = _ekf_wrapper.getAccelBias(); |
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EXPECT_TRUE(matrix::isEqual(pos_new, pos_old, 0.01f)); |
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EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f)); |
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EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f)); |
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_sensor_simulator.runSeconds(10); |
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pos_new = _ekf_wrapper.getPosition(); |
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vel_new = _ekf_wrapper.getVelocity(); |
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accel_bias_new = _ekf_wrapper.getAccelBias(); |
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EXPECT_TRUE(matrix::isEqual(pos_new, pos_old, 0.01f)); |
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EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f)); |
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EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f)); |
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// EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); // What do we expect here? |
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} |
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TEST_F(EkfFusionLogicTest, doFlowFusion) |
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{ |
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// GIVEN: a tilt and heading aligned filter |
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// WHEN: sending flow data without having the flow fusion enabled |
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// flow measurement fusion should not be intended. |
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_sensor_simulator.startFlow(); |
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_sensor_simulator.runSeconds(4); |
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// THEN: EKF should intend to fuse flow measurements |
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EXPECT_FALSE(_ekf_wrapper.isIntendingFlowFusion()); |
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// THEN: Local and global position should not be valid |
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EXPECT_FALSE(_ekf->local_position_is_valid()); |
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EXPECT_FALSE(_ekf->global_position_is_valid()); |
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// WHEN: Flow data is not send and we enable flow fusion |
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_sensor_simulator.stopFlow(); |
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_sensor_simulator.runSeconds(3); // TODO: without this line tests fail |
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// probably there are still values in the buffer. |
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_ekf_wrapper.enableFlowFusion(); |
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_sensor_simulator.runSeconds(3); |
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// THEN: EKF should not intend to fuse flow |
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EXPECT_FALSE(_ekf_wrapper.isIntendingFlowFusion()); |
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// THEN: Local and global position should not be valid |
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EXPECT_FALSE(_ekf->local_position_is_valid()); |
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EXPECT_FALSE(_ekf->global_position_is_valid()); |
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// WHEN: Flow data is send and we enable flow fusion |
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_sensor_simulator.startFlow(); |
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_ekf_wrapper.enableFlowFusion(); |
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_sensor_simulator.runSeconds(10); |
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// THEN: EKF should intend to fuse flow |
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EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion()); |
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// THEN: Local and global position should be valid |
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EXPECT_TRUE(_ekf->local_position_is_valid()); |
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EXPECT_FALSE(_ekf->global_position_is_valid()); |
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}
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