PreFlightCheckerTest.cpp
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/****************************************************************************
*
* Copyright (C) 2019 PX4 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 code for PreFlightChecker class
* Run this test only using make tests TESTFILTER=PreFlightChecker
*/
#include <gtest/gtest.h>
#include "PreFlightChecker.hpp"
class PreFlightCheckerTest : public ::testing::Test
{
};
TEST_F(PreFlightCheckerTest, testInnovFailed)
{
const float test_limit = 1.0; ///< is the limit for innovation_lpf
const float spike_limit = 2.f * test_limit; ///< is the limit for innovation_lpf
const float innovations[9] = {0.0, 1.5, 2.5, -1.5, -2.5, 1.5, -1.5, -2.5, -2.5};
const float innovations_lpf[9] = {0.0, 0.9, 0.9, -0.9, -0.9, 1.1, -1.1, -1.1, 1.1};
const bool expected_result[9] = {false, false, true, false, true, true, true, true, true};
for (int i = 0; i < 9; i++) {
EXPECT_EQ(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], test_limit, spike_limit),
expected_result[i]);
}
// Smaller test limit, all the checks should fail except the first
EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations_lpf[0], innovations[0], 0.0, 0.0));
for (int i = 1; i < 9; i++) {
EXPECT_TRUE(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], 0.0, 0.0));
}
// Larger test limit, none of the checks should fail
for (int i = 0; i < 9; i++) {
EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], 2.0, 4.0));
}
}
TEST_F(PreFlightCheckerTest, testInnov2dFailed)
{
const float test_limit = 1.0;
const float spike_limit = 2.0;
Vector2f innovations[4] = {{0.0, 0.0}, {0.0, 0.0}, {0.0, -2.5}, {1.5, -1.5}};
Vector2f innovations_lpf[4] = {{0.0, 0.0}, {1.1, 0.0}, {0.5, 0.5}, {1.0, -1.0}};
const bool expected_result[4] = {false, true, true, true};
for (int i = 0; i < 4; i++) {
EXPECT_EQ(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], test_limit, spike_limit),
expected_result[i]);
}
// Smaller test limit, all the checks should fail except the first
EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[0], innovations_lpf[0], 0.0, 0.0));
for (int i = 1; i < 4; i++) {
EXPECT_TRUE(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], 0.0, 0.0));
}
// Larger test limit, none of the checks should fail
for (int i = 0; i < 4; i++) {
EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], 1.42, 2.84));
}
}