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86 lines
3.1 KiB
86 lines
3.1 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2020 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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* Helper class to check the state_reset_status member of the ekf object. |
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* Used for checking if state resets are logged correctly. |
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* @author Kamil Ritz <ka.ritz@hotmail.com> |
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*/ |
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#pragma once |
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#include <memory> |
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#include "EKF/ekf.h" |
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class ResetLoggingChecker { |
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public: |
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ResetLoggingChecker(std::shared_ptr<Ekf> ekf) : _ekf(ekf) {} |
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// call immediately before state reset |
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void capturePreResetState(); |
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// call immediately after state reset |
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void capturePostResetState(); |
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bool isVelocityDeltaLoggedCorrectly(float accuracy); |
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bool isHorizontalVelocityResetCounterIncreasedBy(int offset); |
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bool isVerticalVelocityResetCounterIncreasedBy(int offset); |
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bool isPositionDeltaLoggedCorrectly(float accuracy); |
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bool isHorizontalPositionResetCounterIncreasedBy(int offset); |
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bool isVerticalPositionResetCounterIncreasedBy(int offset); |
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private: |
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std::shared_ptr<Ekf> _ekf; |
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Vector3f velocity_before_reset; |
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Vector3f position_before_reset; |
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int horz_vel_reset_counter_before_reset; |
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int vert_vel_reset_counter_before_reset; |
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int horz_pos_reset_counter_before_reset; |
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int vert_pos_reset_counter_before_reset; |
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Vector3f velocity_after_reset; |
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Vector3f position_after_reset; |
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int horz_vel_reset_counter_after_reset; |
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int vert_vel_reset_counter_after_reset; |
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int horz_pos_reset_counter_after_reset; |
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int vert_pos_reset_counter_after_reset; |
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Vector3f logged_delta_velocity; |
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Vector3f logged_delta_position; |
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};
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