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368 lines
13 KiB
368 lines
13 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, doNoFusion) |
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{ |
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// GIVEN: a tilt and heading aligned filter |
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// WHEN: having no aiding source EKF should not have a valid position estimate |
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// TODO: for the first 5 second it still has some valid local position |
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// that needs to change |
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EXPECT_TRUE(_ekf->local_position_is_valid()); |
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_sensor_simulator.runSeconds(4); |
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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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} |
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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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const Vector3f pos_old = _ekf->getPosition(); |
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const Vector3f vel_old = _ekf->getVelocity(); |
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const Vector3f accel_bias_old = _ekf->getAccelBias(); |
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_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f{20.0f, 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->getPosition(); |
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Vector3f vel_new = _ekf->getVelocity(); |
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Vector3f accel_bias_new = _ekf->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->getPosition(); |
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vel_new = _ekf->getVelocity(); |
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accel_bias_new = _ekf->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 not 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(1); // empty 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 sent 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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// WHEN: Stop sending flow data |
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_sensor_simulator.stopFlow(); |
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_sensor_simulator.runSeconds(10); |
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// THEN: EKF should not intend to fuse flow measurements |
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EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion()); // TODO: change to false |
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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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} |
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TEST_F(EkfFusionLogicTest, doVisionPositionFusion) |
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{ |
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// WHEN: allow vision position to be fused and we send vision data |
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_ekf_wrapper.enableExternalVisionPositionFusion(); |
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_sensor_simulator.startExternalVision(); |
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_sensor_simulator.runSeconds(4); |
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// THEN: EKF should intend to fuse vision position estimate |
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// and we have a valid local position estimate |
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EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionPositionFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion()); |
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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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// WHEN: stop sending vision data |
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_sensor_simulator.stopExternalVision(); |
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_sensor_simulator.runSeconds(7); |
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// THEN: EKF should stop to intend to fuse vision position estimate |
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// and EKF should not have a valid local position estimate anymore |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion()); |
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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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} |
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TEST_F(EkfFusionLogicTest, doVisionVelocityFusion) |
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{ |
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// WHEN: allow vision position to be fused and we send vision data |
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_ekf_wrapper.enableExternalVisionVelocityFusion(); |
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_sensor_simulator.startExternalVision(); |
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_sensor_simulator.runSeconds(4); |
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// THEN: EKF should intend to fuse vision position estimate |
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// and we have a valid local position estimate |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion()); |
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EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion()); |
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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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// WHEN: stop sending vision data |
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_sensor_simulator.stopExternalVision(); |
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_sensor_simulator.runSeconds(7); |
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// THEN: EKF should stop to intend to fuse vision position estimate |
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// and EKF should not have a valid local position estimate anymore |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion()); |
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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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} |
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TEST_F(EkfFusionLogicTest, doVisionHeadingFusion) |
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{ |
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// WHEN: allow vision position to be fused and we send vision data |
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_ekf_wrapper.enableExternalVisionHeadingFusion(); |
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_sensor_simulator.startExternalVision(); |
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_sensor_simulator.runSeconds(4); |
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// THEN: EKF should intend to fuse vision heading estimates |
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// and we should not have a valid local position estimate |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion()); |
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EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion()); |
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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: stop sending vision data |
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_sensor_simulator.stopExternalVision(); |
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_sensor_simulator.runSeconds(6); |
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// THEN: EKF should stop to intend to fuse vision position estimate |
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// and EKF should not have a valid local position estimate anymore |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionPositionFusion()); |
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EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion()); |
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EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion()); |
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// TODO: it is still intending to fuse ev_yaw. There should be some fallback to mag if possible |
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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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} |
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TEST_F(EkfFusionLogicTest, doBaroHeightFusion) |
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{ |
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// GIVEN: EKF that receives baro data |
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// THEN: EKF should intend to fuse baro by default |
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EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion()); |
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// WHEN: stop sending baro data |
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_sensor_simulator.stopBaro(); |
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_sensor_simulator.runSeconds(6); |
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// THEN: EKF should stop to intend to use baro hgt |
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// TODO: We have no fall back in balce |
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EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion()); // TODO: Needs to change |
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} |
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TEST_F(EkfFusionLogicTest, doGpsHeightFusion) |
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{ |
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// WHEN: commanding GPS height and sending GPS data |
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_ekf_wrapper.setGpsHeight(); |
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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 height |
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion()); |
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// WHEN: stop sending gps data |
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_sensor_simulator.stopGps(); |
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_sensor_simulator.runSeconds(11); // TODO: We have to wait way too long |
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// THEN: EKF should stop to intend to use gps height |
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EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeightFusion()); |
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} |
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TEST_F(EkfFusionLogicTest, doRangeHeightFusion) |
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{ |
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// WHEN: commanding range height and sending range data |
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_ekf_wrapper.setRangeHeight(); |
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_sensor_simulator.startRangeFinder(); |
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_sensor_simulator.runSeconds(2.5); |
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// THEN: EKF should intend to fuse range height |
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EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion()); |
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// WHEN: stop sending range data |
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_sensor_simulator.stopRangeFinder(); |
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_sensor_simulator.runSeconds(2.5); |
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// THEN: EKF should stop to intend to use range height |
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EXPECT_FALSE(_ekf_wrapper.isIntendingRangeHeightFusion()); |
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} |
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TEST_F(EkfFusionLogicTest, doVisionHeightFusion) |
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{ |
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// WHEN: commanding vision height and sending vision data |
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_ekf_wrapper.setVisionHeight(); |
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_sensor_simulator.startExternalVision(); |
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_sensor_simulator.runSeconds(2); |
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// THEN: EKF should intend to fuse vision height |
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EXPECT_TRUE(_ekf_wrapper.isIntendingVisionHeightFusion()); |
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// WHEN: stop sending vision data |
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_sensor_simulator.stopExternalVision(); |
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_sensor_simulator.runSeconds(12); |
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// THEN: EKF should stop to intend to use vision height |
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// TODO: This is not happening |
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EXPECT_TRUE(_ekf_wrapper.isIntendingVisionHeightFusion()); // TODO: Needs to change |
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}
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