mirror of https://github.com/ArduPilot/ardupilot
Math: added a test suite for the new rotation methods
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Andrew Tridgell
parent
85c3c1d2ea
commit
24a9fe8827
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include ../../../AP_Common/Arduino.mk
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sitl:
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make -f ../../../../libraries/Desktop/Desktop.mk
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// Unit tests for the AP_Math rotations code
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//
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Math.h>
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FastSerialPort(Serial, 0);
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#ifdef DESKTOP_BUILD
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// all of this is needed to build with SITL
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#include <DataFlash.h>
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#include <APM_RC.h>
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#include <GCS_MAVLink.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_ADC.h>
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#include <AP_Baro.h>
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#include <AP_Compass.h>
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#include <AP_GPS.h>
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Arduino_Mega_ISR_Registry isr_registry;
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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#endif
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// standard rotation matrices (these are the originals from the old code)
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#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
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#define MATRIX_ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_225 Matrix3f(-0.70710678, 0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_315 Matrix3f(0.70710678, 0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, 1)
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#define MATRIX_ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_45 Matrix3f(0.70710678, 0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_135 Matrix3f(-0.70710678, 0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, -1)
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#define MATRIX_ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_225 Matrix3f(-0.70710678, -0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_315 Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1)
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static void print_matrix(Matrix3f &m)
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{
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Serial.printf("[%.2f %.2f %.2f] [%.2f %.2f %.2f] [%.2f %.2f %.2f]\n",
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m.a.x, m.a.y, m.a.z,
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m.b.x, m.b.y, m.b.z,
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m.c.x, m.c.y, m.c.z);
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}
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// test one matrix
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static void test_matrix(enum Rotation rotation, Matrix3f m)
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{
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Matrix3f m2, diff;
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const float accuracy = 1.0e-6;
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m2.rotation(rotation);
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diff = (m - m2);
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if (diff.a.length() > accuracy ||
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diff.b.length() > accuracy ||
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diff.c.length() > accuracy) {
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Serial.printf("rotation matrix %u incorrect\n", (unsigned)rotation);
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print_matrix(m);
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print_matrix(m2);
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}
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}
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// test generation of rotation matrices
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static void test_matrices(void)
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{
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Serial.println("testing rotation matrices\n");
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test_matrix(ROTATION_NONE, MATRIX_ROTATION_NONE);
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test_matrix(ROTATION_YAW_45, MATRIX_ROTATION_YAW_45);
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test_matrix(ROTATION_YAW_90, MATRIX_ROTATION_YAW_90);
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test_matrix(ROTATION_YAW_135, MATRIX_ROTATION_YAW_135);
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test_matrix(ROTATION_YAW_180, MATRIX_ROTATION_YAW_180);
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test_matrix(ROTATION_YAW_225, MATRIX_ROTATION_YAW_225);
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test_matrix(ROTATION_YAW_270, MATRIX_ROTATION_YAW_270);
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test_matrix(ROTATION_YAW_315, MATRIX_ROTATION_YAW_315);
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test_matrix(ROTATION_ROLL_180, MATRIX_ROTATION_ROLL_180);
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test_matrix(ROTATION_ROLL_180_YAW_45, MATRIX_ROTATION_ROLL_180_YAW_45);
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test_matrix(ROTATION_ROLL_180_YAW_90, MATRIX_ROTATION_ROLL_180_YAW_90);
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test_matrix(ROTATION_ROLL_180_YAW_135, MATRIX_ROTATION_ROLL_180_YAW_135);
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test_matrix(ROTATION_PITCH_180, MATRIX_ROTATION_PITCH_180);
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test_matrix(ROTATION_ROLL_180_YAW_225, MATRIX_ROTATION_ROLL_180_YAW_225);
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test_matrix(ROTATION_ROLL_180_YAW_270, MATRIX_ROTATION_ROLL_180_YAW_270);
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test_matrix(ROTATION_ROLL_180_YAW_315, MATRIX_ROTATION_ROLL_180_YAW_315);
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}
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// test rotation of vectors
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static void test_vector(enum Rotation rotation, Vector3f v1, bool show=true)
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{
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Vector3f v2, diff;
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Matrix3f m;
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v2 = v1;
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m.rotation(rotation);
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v1.rotate(rotation);
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v2 = m * v2;
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diff = v1 - v2;
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if (diff.length() > 1.0e-6) {
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Serial.printf("rotation vector %u incorrect\n", (unsigned)rotation);
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Serial.printf("%u %f %f %f\n",
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(unsigned)rotation,
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v2.x, v2.y, v2.z);
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}
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if (show) {
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Serial.printf("%u %f %f %f\n",
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(unsigned)rotation,
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v1.x, v1.y, v1.z);
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}
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}
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// generate a random float between -1 and 1
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static float rand_num(void)
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{
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float ret = ((unsigned)random()) % 2000000;
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return (ret - 1.0e6) / 1.0e6;
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}
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// test rotation of vectors
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static void test_vector(enum Rotation rotation)
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{
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uint8_t i;
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Vector3f v1;
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v1.x = 1;
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v1.y = 2;
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v1.z = 3;
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test_vector(rotation, v1);
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for (i=0; i<10; i++) {
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v1.x = rand_num();
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v1.y = rand_num();
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v1.z = rand_num();
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test_vector(rotation, v1, false);
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}
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}
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// test rotation of vectors
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static void test_vectors(void)
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{
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Serial.println("testing rotation of vectors\n");
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test_vector(ROTATION_NONE);
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test_vector(ROTATION_YAW_45);
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test_vector(ROTATION_YAW_90);
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test_vector(ROTATION_YAW_135);
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test_vector(ROTATION_YAW_180);
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test_vector(ROTATION_YAW_225);
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test_vector(ROTATION_YAW_270);
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test_vector(ROTATION_YAW_315);
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test_vector(ROTATION_ROLL_180);
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test_vector(ROTATION_ROLL_180_YAW_45);
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test_vector(ROTATION_ROLL_180_YAW_90);
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test_vector(ROTATION_ROLL_180_YAW_135);
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test_vector(ROTATION_PITCH_180);
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test_vector(ROTATION_ROLL_180_YAW_225);
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test_vector(ROTATION_ROLL_180_YAW_270);
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test_vector(ROTATION_ROLL_180_YAW_315);
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}
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/*
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rotation tests
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*/
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void setup(void)
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{
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Serial.begin(115200);
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Serial.println("rotation unit tests\n");
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test_matrices();
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test_vectors();
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Serial.println("rotation unit tests done\n");
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}
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void
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loop(void)
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{
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}
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