test_EKF_airspeed.cpp
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/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
/**
* Test the fusion of airspeed data
* @author Kamil Ritz <ka.ritz@hotmail.com>
*/
#include <gtest/gtest.h>
#include "EKF/ekf.h"
#include "sensor_simulator/sensor_simulator.h"
#include "sensor_simulator/ekf_wrapper.h"
class EkfAirspeedTest : public ::testing::Test {
public:
EkfAirspeedTest(): ::testing::Test(),
_ekf{std::make_shared<Ekf>()},
_sensor_simulator(_ekf),
_ekf_wrapper(_ekf),
_quat_sim(Eulerf(0.0f, 0.0f, math::radians(45.0f))) {};
std::shared_ptr<Ekf> _ekf;
SensorSimulator _sensor_simulator;
EkfWrapper _ekf_wrapper;
const Quatf _quat_sim;
// Setup the Ekf with synthetic measurements
void SetUp() override
{
_ekf->init(0);
_sensor_simulator.simulateOrientation(_quat_sim);
_sensor_simulator.runSeconds(7);
}
// Use this method to clean up any memory, network etc. after each test
void TearDown() override
{
}
};
TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
{
const Vector3f simulated_velocity_earth(0.0f,1.5f,0.0f);
const Vector2f airspeed_body(0.4f, 0.0f);
_ekf_wrapper.enableExternalVisionVelocityFusion();
_sensor_simulator._vio.setVelocity(simulated_velocity_earth);
_sensor_simulator.startExternalVision();
_ekf->set_in_air_status(true);
_sensor_simulator.startAirspeedSensor();
_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
// Wind estimation is rather slow
_sensor_simulator.runSeconds(15);
EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
const Vector3f vel = _ekf->getVelocity();
const Vector2f vel_wind_earth = _ekf->getWindVelocity();
const float height_before_pressure_correction = _ekf->getPosition()(2);
const Dcmf R_to_earth_sim(_quat_sim);
EXPECT_TRUE(matrix::isEqual(vel, simulated_velocity_earth));
const Vector3f vel_wind_expected = simulated_velocity_earth - R_to_earth_sim * (Vector3f(airspeed_body(0), airspeed_body(1), 0.0f));
EXPECT_TRUE(matrix::isEqual(vel_wind_earth, Vector2f(vel_wind_expected.slice<2,1>(0,0))));
EXPECT_NEAR(height_before_pressure_correction, 0.0f, 1e-5f);
// Apply height correction
const float static_pressure_coef_xp = 1.0f;
const float static_pressure_coef_yp = -1.0f; // not used as wind direction is along x axis
parameters* _params = _ekf->getParamHandle();
_params->static_pressure_coef_xp = static_pressure_coef_xp;
_params->static_pressure_coef_yp = static_pressure_coef_yp;
float expected_height_difference = 0.5f * static_pressure_coef_xp * airspeed_body(0) * airspeed_body(0) / CONSTANTS_ONE_G;
_sensor_simulator.runSeconds(20);
const float height_after_pressure_correction = _ekf->getPosition()(2);
// height increase means that state z decrease due to z axis pointing down
const float expected_height_after_pressure_correction = height_before_pressure_correction -
expected_height_difference;
EXPECT_NEAR(height_after_pressure_correction, expected_height_after_pressure_correction, 1e-3f);
}