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.
190 lines
7.3 KiB
190 lines
7.3 KiB
/**************************************************************************** |
|
* |
|
* Copyright (c) 2019-2020 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 <memory> |
|
#include "EKF/ekf.h" |
|
#include "sensor_simulator/sensor_simulator.h" |
|
#include "sensor_simulator/ekf_wrapper.h" |
|
|
|
class EkfBasicsTest : public ::testing::Test { |
|
public: |
|
EkfBasicsTest(): ::testing::Test(), |
|
_ekf{std::make_shared<Ekf>()}, |
|
_sensor_simulator(_ekf), |
|
_ekf_wrapper(_ekf) {}; |
|
|
|
std::shared_ptr<Ekf> _ekf; |
|
SensorSimulator _sensor_simulator; |
|
EkfWrapper _ekf_wrapper; |
|
|
|
|
|
// Duration of initalization with only providing baro,mag and IMU |
|
const uint32_t _init_duration_s{3}; |
|
|
|
// Setup the Ekf with synthetic measurements |
|
void SetUp() override |
|
{ |
|
_ekf->init(0); |
|
_sensor_simulator.runSeconds(_init_duration_s); |
|
} |
|
|
|
// Use this method to clean up any memory, network etc. after each test |
|
void TearDown() override |
|
{ |
|
} |
|
}; |
|
|
|
|
|
TEST_F(EkfBasicsTest, tiltAlign) |
|
{ |
|
// GIVEN: reasonable static sensor data for some duration |
|
// THEN: EKF should tilt align |
|
EXPECT_TRUE(_ekf->attitude_valid()); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, initialControlMode) |
|
{ |
|
// GIVEN: reasonable static sensor data for some duration |
|
// THEN: EKF control status should be reasonable |
|
filter_control_status_u control_status; |
|
_ekf->get_control_mode(&control_status.value); |
|
|
|
EXPECT_EQ(1, (int) control_status.flags.tilt_align); |
|
EXPECT_EQ(1, (int) control_status.flags.yaw_align); |
|
EXPECT_EQ(0, (int) control_status.flags.gps); |
|
EXPECT_EQ(0, (int) control_status.flags.opt_flow); |
|
EXPECT_EQ(1, (int) control_status.flags.mag_hdg); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_3D); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_dec); |
|
EXPECT_EQ(0, (int) control_status.flags.in_air); |
|
EXPECT_EQ(0, (int) control_status.flags.wind); |
|
EXPECT_EQ(1, (int) control_status.flags.baro_hgt); |
|
EXPECT_EQ(0, (int) control_status.flags.rng_hgt); |
|
EXPECT_EQ(0, (int) control_status.flags.gps_hgt); |
|
EXPECT_EQ(0, (int) control_status.flags.ev_pos); |
|
EXPECT_EQ(0, (int) control_status.flags.ev_yaw); |
|
EXPECT_EQ(0, (int) control_status.flags.ev_hgt); |
|
EXPECT_EQ(0, (int) control_status.flags.fuse_beta); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_field_disturbed); |
|
EXPECT_EQ(0, (int) control_status.flags.fixed_wing); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_fault); |
|
EXPECT_EQ(0, (int) control_status.flags.gnd_effect); |
|
EXPECT_EQ(0, (int) control_status.flags.rng_stuck); |
|
EXPECT_EQ(0, (int) control_status.flags.gps_yaw); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_aligned_in_flight); |
|
EXPECT_EQ(0, (int) control_status.flags.ev_vel); |
|
EXPECT_EQ(0, (int) control_status.flags.synthetic_mag_z); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, convergesToZero) |
|
{ |
|
// GIVEN: initialized EKF with default IMU, baro and mag input |
|
_sensor_simulator.runSeconds(4); |
|
|
|
const Vector3f pos = _ekf->getPosition(); |
|
const Vector3f vel = _ekf->getVelocity(); |
|
const Vector3f accel_bias = _ekf->getAccelBias(); |
|
const Vector3f gyro_bias = _ekf->getGyroBias(); |
|
const Vector3f ref{0.0f, 0.0f, 0.0f}; |
|
|
|
// THEN: EKF should stay or converge to zero |
|
EXPECT_TRUE(matrix::isEqual(pos, ref, 0.001f)); |
|
EXPECT_TRUE(matrix::isEqual(vel, ref, 0.001f)); |
|
EXPECT_TRUE(matrix::isEqual(accel_bias, ref, 0.001f)); |
|
EXPECT_TRUE(matrix::isEqual(gyro_bias, ref, 0.001f)); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, gpsFusion) |
|
{ |
|
// GIVEN: initialized EKF with default IMU, baro and mag input for |
|
// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec |
|
|
|
_sensor_simulator.startGps(); |
|
_sensor_simulator.runSeconds(11); |
|
|
|
// THEN: EKF should fuse GPS, but no other position sensor |
|
filter_control_status_u control_status; |
|
_ekf->get_control_mode(&control_status.value); |
|
EXPECT_EQ(1, (int) control_status.flags.tilt_align); |
|
EXPECT_EQ(1, (int) control_status.flags.yaw_align); |
|
EXPECT_EQ(1, (int) control_status.flags.gps); |
|
EXPECT_EQ(0, (int) control_status.flags.opt_flow); |
|
EXPECT_EQ(1, (int) control_status.flags.mag_hdg); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_3D); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_dec); |
|
EXPECT_EQ(0, (int) control_status.flags.in_air); |
|
EXPECT_EQ(0, (int) control_status.flags.wind); |
|
EXPECT_EQ(1, (int) control_status.flags.baro_hgt); |
|
EXPECT_EQ(0, (int) control_status.flags.rng_hgt); |
|
EXPECT_EQ(0, (int) control_status.flags.gps_hgt); |
|
EXPECT_EQ(0, (int) control_status.flags.ev_pos); |
|
EXPECT_EQ(0, (int) control_status.flags.ev_yaw); |
|
EXPECT_EQ(0, (int) control_status.flags.ev_hgt); |
|
EXPECT_EQ(0, (int) control_status.flags.fuse_beta); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_field_disturbed); |
|
EXPECT_EQ(0, (int) control_status.flags.fixed_wing); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_fault); |
|
EXPECT_EQ(0, (int) control_status.flags.gnd_effect); |
|
EXPECT_EQ(0, (int) control_status.flags.rng_stuck); |
|
EXPECT_EQ(0, (int) control_status.flags.gps_yaw); |
|
EXPECT_EQ(0, (int) control_status.flags.mag_aligned_in_flight); |
|
EXPECT_EQ(0, (int) control_status.flags.ev_vel); |
|
EXPECT_EQ(0, (int) control_status.flags.synthetic_mag_z); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, accleBiasEstimation) |
|
{ |
|
// GIVEN: initialized EKF with default IMU, baro and mag input for 3s |
|
// WHEN: Added more sensor measurements with accel bias and gps measurements |
|
const Vector3f accel_bias_sim = {0.0f,0.0f,0.1f}; |
|
|
|
_sensor_simulator.startGps(); |
|
_sensor_simulator.setImuBias(accel_bias_sim, Vector3f{0.0f,0.0f,0.0f}); |
|
_sensor_simulator.runSeconds(10); |
|
|
|
const Vector3f pos = _ekf->getPosition(); |
|
const Vector3f vel = _ekf->getVelocity(); |
|
const Vector3f accel_bias = _ekf->getAccelBias(); |
|
const Vector3f gyro_bias = _ekf->getGyroBias(); |
|
const Vector3f zero{0.0f, 0.0f, 0.0f}; |
|
|
|
// THEN: EKF should stay or converge to zero |
|
EXPECT_TRUE(matrix::isEqual(pos, zero, 0.01f)); |
|
EXPECT_TRUE(matrix::isEqual(vel, zero, 0.005f)); |
|
EXPECT_TRUE(matrix::isEqual(accel_bias, accel_bias_sim, 0.001f)); |
|
EXPECT_TRUE(matrix::isEqual(gyro_bias, zero, 0.001f)); |
|
} |
|
|
|
// TODO: Add sampling tests
|
|
|