test_EKF_measurementSampling.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.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <math.h>
#include "EKF/ekf.h"
class EkfMeasurementSamplingTest : public ::testing::Test
{
public:
EkfMeasurementSamplingTest(): ::testing::Test(),
_ekf{std::make_shared<Ekf>()}{};
std::shared_ptr<Ekf> _ekf;
void SetUp() override
{
_ekf->init(0);
}
};
TEST_F(EkfMeasurementSamplingTest, baroDownSampling)
{
// Need to send imu samples to initialise
imuSample imu_sample;
// WHEN: baro data = {1, -1 , 1, -1, ...} being set at high rate
int baro_rate_Hz = 10000;
uint64_t time = 0;
float baro_data = 1.0f;
for(int i = 0; i < 2 * baro_rate_Hz; i++)
{
if(i % 100 == 0)
{
// send imu data at a 100 times lower rate
imu_sample.time_us = time;
_ekf->setIMUData(imu_sample);
}
_ekf->setBaroData(baroSample{time, baro_data});
baro_data *= -1.0f;
time += 1000000 / baro_rate_Hz;
}
_ekf->update();
// THEN: average and buffered baro dato should be close to zero
baroSample baro_sample_from_buffer = _ekf->get_baro_sample_delayed();
EXPECT_NEAR(baro_sample_from_buffer.hgt, 0.0f, 0.01f);
}