// given we are in the Math library, you're epected to know what // you're doing when directly comparing floats: #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wfloat-equal" #include #include #include const AP_HAL::HAL& hal = AP_HAL::get_HAL(); #define SQRT_2 1.4142135623730950488016887242097 TEST(VectorTest, Rotations) { unsigned rotation_count = 0; #define TEST_ROTATION(rotation, _x, _y, _z) { \ const float accuracy = 1.0e-6; \ Vector3f v(1, 1, 1); \ Vector3f v2 = v; \ v.rotate(rotation); \ Vector3f expected(_x, _y, _z); \ EXPECT_NEAR(expected.length(), v.length(), accuracy); \ EXPECT_FLOAT_EQ(expected.x, v.x); \ EXPECT_FLOAT_EQ(expected.y, v.y); \ EXPECT_FLOAT_EQ(expected.z, v.z); \ Quaternion quat; \ quat.from_rotation(rotation); \ quat.earth_to_body(v2); \ EXPECT_NEAR(expected.length(), v.length(), accuracy); \ EXPECT_NEAR(expected.x, v2.x, accuracy); \ EXPECT_NEAR(expected.y, v2.y, accuracy); \ EXPECT_NEAR(expected.z, v2.z, accuracy); \ rotation_count++; \ } TEST_ROTATION(ROTATION_NONE, 1, 1, 1); TEST_ROTATION(ROTATION_YAW_45, 0, SQRT_2, 1); TEST_ROTATION(ROTATION_YAW_90, -1, 1, 1); TEST_ROTATION(ROTATION_YAW_135, -SQRT_2, 0, 1); TEST_ROTATION(ROTATION_YAW_180, -1, -1, 1); TEST_ROTATION(ROTATION_YAW_225, 0, -SQRT_2, 1); TEST_ROTATION(ROTATION_YAW_270, 1, -1, 1); TEST_ROTATION(ROTATION_YAW_315, SQRT_2, 0, 1); TEST_ROTATION(ROTATION_ROLL_180, 1, -1, -1); TEST_ROTATION(ROTATION_ROLL_180_YAW_45, SQRT_2, 0, -1); TEST_ROTATION(ROTATION_ROLL_180_YAW_90, 1, 1, -1); TEST_ROTATION(ROTATION_ROLL_180_YAW_135, 0, SQRT_2, -1); TEST_ROTATION(ROTATION_PITCH_180, -1, 1, -1); TEST_ROTATION(ROTATION_ROLL_180_YAW_225, -SQRT_2, 0, -1); TEST_ROTATION(ROTATION_ROLL_180_YAW_270, -1, -1, -1); TEST_ROTATION(ROTATION_ROLL_180_YAW_315, 0, -SQRT_2, -1); TEST_ROTATION(ROTATION_ROLL_90, 1, -1, 1); TEST_ROTATION(ROTATION_ROLL_90_YAW_45, SQRT_2, 0, 1); TEST_ROTATION(ROTATION_ROLL_90_YAW_90, 1, 1, 1); TEST_ROTATION(ROTATION_ROLL_90_YAW_135, 0, SQRT_2, 1); TEST_ROTATION(ROTATION_ROLL_270, 1, 1, -1); TEST_ROTATION(ROTATION_ROLL_270_YAW_45, 0, SQRT_2, -1); TEST_ROTATION(ROTATION_ROLL_270_YAW_90, -1, 1, -1); TEST_ROTATION(ROTATION_ROLL_270_YAW_135, -SQRT_2, 0, -1); TEST_ROTATION(ROTATION_PITCH_90, 1, 1, -1); TEST_ROTATION(ROTATION_PITCH_270, -1, 1, 1); TEST_ROTATION(ROTATION_PITCH_180_YAW_90, -1, -1, -1); TEST_ROTATION(ROTATION_PITCH_180_YAW_270, 1, 1, -1); TEST_ROTATION(ROTATION_ROLL_90_PITCH_90, 1, -1, -1); TEST_ROTATION(ROTATION_ROLL_180_PITCH_90, -1, -1, -1); TEST_ROTATION(ROTATION_ROLL_270_PITCH_90, -1, 1, -1); TEST_ROTATION(ROTATION_ROLL_90_PITCH_180, -1, -1, -1); TEST_ROTATION(ROTATION_ROLL_270_PITCH_180, -1, 1, 1); TEST_ROTATION(ROTATION_ROLL_90_PITCH_270, -1, -1, 1); TEST_ROTATION(ROTATION_ROLL_180_PITCH_270, 1, -1, 1); TEST_ROTATION(ROTATION_ROLL_270_PITCH_270, 1, 1, 1); TEST_ROTATION(ROTATION_ROLL_90_PITCH_180_YAW_90, 1, -1, -1); TEST_ROTATION(ROTATION_ROLL_90_YAW_270, -1, -1, 1); TEST_ROTATION(ROTATION_ROLL_90_PITCH_68_YAW_293, -0.40663092252764576617352076937095, -1.5839677018260314156350432313047, -0.57069923113341980425161636958364); TEST_ROTATION(ROTATION_PITCH_315, 0, 1, SQRT_2); TEST_ROTATION(ROTATION_ROLL_90_PITCH_315, 0, -1, SQRT_2); TEST_ROTATION(ROTATION_PITCH_7, 1.1144154950464695286171945554088, 1, 0.87067680823617454866081288855639); TEST_ROTATION(ROTATION_ROLL_45, 1, 0, SQRT_2); TEST_ROTATION(ROTATION_ROLL_315, 1, SQRT_2, 0); EXPECT_EQ(ROTATION_MAX, rotation_count) << "All rotations are expect to be tested"; #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX TEST_ROTATION(ROTATION_CUSTOM_OLD, 1, 1, 1); TEST_ROTATION(ROTATION_MAX, 1, 1, 1); #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL Vector3F v {1, 1, 1}; EXPECT_EXIT(v.rotate(ROTATION_CUSTOM_OLD), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bad_rotation"); EXPECT_EXIT(v.rotate(ROTATION_MAX), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bad_rotation"); #endif } TEST(MathTest, IsZero) { EXPECT_FALSE(is_zero(0.1f)); EXPECT_FALSE(is_zero(0.0001f)); EXPECT_TRUE(is_zero(0.0f)); EXPECT_TRUE(is_zero(FLT_MIN)); EXPECT_TRUE(is_zero(-FLT_MIN)); AP_Float t_float; t_float.set(0.1f); EXPECT_FALSE(is_zero(t_float)); t_float.set(0.0f); EXPECT_TRUE(is_zero(t_float)); } TEST(MathTest, IsPositive) { EXPECT_TRUE(is_positive(1.0f)); EXPECT_TRUE(is_positive(FLT_EPSILON)); EXPECT_FALSE(is_positive(0.0f)); EXPECT_FALSE(is_positive(-1.0f)); AP_Float t_float; t_float.set(0.1f); EXPECT_TRUE(is_positive(t_float)); t_float.set(-0.1f); EXPECT_FALSE(is_positive(t_float)); } TEST(MathTest, IsNegative) { EXPECT_TRUE(is_negative(-1.0f * FLT_EPSILON)); EXPECT_TRUE(is_negative(-1.0f)); EXPECT_FALSE(is_negative(0.0f)); EXPECT_FALSE(is_negative(1.0f)); AP_Float t_float; t_float.set(0.1f); EXPECT_FALSE(is_negative(t_float)); t_float.set(-0.1f); EXPECT_TRUE(is_negative(t_float)); } TEST(MathTest, MIN) { const bool testb = true; EXPECT_EQ(1, MIN(testb, 2)); const uint8_t testui8 = 1; EXPECT_EQ(1u, MIN(testui8, 2u)); EXPECT_EQ(1u, MIN(testui8, testui8 + 2u)); const signed char testcc1 = 1; const signed char testcc2 = 2; EXPECT_EQ(1, MIN(testcc1, 2)); EXPECT_EQ(1, MIN(testcc1, testcc2)); const unsigned char testc = 1; const unsigned char testc2 = 2; EXPECT_EQ(1u, MIN(testc, 2u)); EXPECT_EQ(1u, MIN(testc, testc2)); const unsigned int testuint = 1; EXPECT_EQ(1u, MIN(testuint, 2u)); EXPECT_EQ(1u, MIN(testuint, testuint + 2u)); const unsigned long testulong = 1; EXPECT_EQ(1u, MIN(testulong, 2u)); EXPECT_EQ(1u, MIN(testulong, testulong + 2u)); const unsigned short testushort = 1; const unsigned short testushort2 = 2; EXPECT_EQ(1u, MIN(testushort, 2u)); EXPECT_EQ(1u, MIN(testushort, testushort2)); EXPECT_EQ(1u, MIN(testc, testulong)); EXPECT_EQ(1, MIN(2, testc)); EXPECT_EQ(1u, MIN(testuint, 2.0f)); EXPECT_EQ(1u, MIN(testuint, testulong)); EXPECT_EQ(1u, MIN(testuint, testc)); EXPECT_EQ(1u, MIN(testulong, testc)); EXPECT_EQ(1u, MIN(testulong, testuint)); EXPECT_EQ(1u, MIN(testulong, testushort)); EXPECT_EQ(1, MIN(testushort, 1)); EXPECT_EQ(1u, MIN(testushort, testulong)); const int8_t testi8 = 1; EXPECT_EQ(1, MIN(testi8, 2)); EXPECT_EQ(1, MIN(testui8, testi8 + 2)); const uint16_t testui16 = 1; EXPECT_EQ(1u, MIN(testui16, 2u)); EXPECT_EQ(1u, MIN(testui16, testui16 + 2u)); const int16_t testi16 = 1; EXPECT_EQ(1, MIN(testi16, 2)); EXPECT_EQ(1, MIN(testi16, testi16 + 2)); const uint32_t testui32 = 1; EXPECT_EQ(1u, MIN(testui32, 2u)); EXPECT_EQ(1u, MIN(testui32, testui32 + 2u)); const int32_t testi32 = 1; EXPECT_EQ(1, MIN(testi32, 2)); EXPECT_EQ(1, MIN(testi32, 2.0f)); EXPECT_EQ(1.0f, MIN(1.0f, 2.0f)); EXPECT_EQ(1.0f, MIN(1.0f, 2)); EXPECT_EQ(1.0f, MIN(2.0f, 1.0f)); } TEST(MathTest, MAX) { const bool testb = true; EXPECT_EQ(2, MAX(testb, 2)); const unsigned char testc = 1; const unsigned char testc2 = 2; EXPECT_EQ(2u, MAX(testc, 2u)); EXPECT_EQ(2u, MAX(testc, testc2)); const uint8_t testui8 = 1; EXPECT_EQ(2u, MAX(testui8, 2u)); const int8_t testi8 = 1; EXPECT_EQ(2, MAX(testi8, 2)); const uint16_t testui16 = 1; EXPECT_EQ(2u, MAX(testui16, 2u)); const int16_t testi16 = 1; EXPECT_EQ(2, MAX(testi16, 2)); const uint32_t testui32 = 1; EXPECT_EQ(2u, MAX(testui32, 2u)); const int32_t testi32 = 1; EXPECT_EQ(2, MAX(testi32, 2)); const unsigned long testulong = 1; EXPECT_EQ(2u, MAX(testulong, 2u)); EXPECT_EQ(3u, MAX(testulong, testulong + 2u)); const unsigned short testushort = 1; const unsigned short testushort2 = 2; EXPECT_EQ(2u, MAX(testushort, 2u)); EXPECT_EQ(2u, MAX(testushort, testushort2)); EXPECT_EQ(2.0f, MAX(testushort, 2.0f)); EXPECT_EQ(2.0f, MAX(testi32, 2.0f)); AP_Float t_float; t_float.set(0.1f); EXPECT_EQ(2.0f, MAX(t_float, 2.0f)); EXPECT_EQ(2.0f, MAX(2.0f, t_float)); AP_Int8 t_int8; t_int8.set(1); EXPECT_EQ(2, MAX(t_int8, 2)); EXPECT_EQ(2, MAX(2, t_int8)); AP_Int16 t_int16; t_int16.set(1); EXPECT_EQ(2, MAX(t_int16, 2)); AP_Int32 t_int32; t_int32.set(1); EXPECT_EQ(2, MAX(t_int32, 2)); EXPECT_EQ(2.0f, MAX(1.0f, 2.0f)); EXPECT_EQ(2.0f, MAX(1.0f, 2)); EXPECT_EQ(2.0f, MAX(2.0f, 1.0f)); } TEST(MathTest, Convert) { EXPECT_TRUE(1000000 == hz_to_nsec(1000u)); EXPECT_TRUE(1000000 == nsec_to_hz(1000u)); EXPECT_TRUE(1 == nsec_to_usec(1000u)); EXPECT_TRUE(1000 == hz_to_usec(1000u)); EXPECT_TRUE(1000 == usec_to_hz(1000u)); } TEST(MathTest, IsEqual) { EXPECT_FALSE(is_equal(1, 0)); EXPECT_TRUE(is_equal(1, 1)); EXPECT_FALSE(is_equal(0.1, 0.10001)); EXPECT_FALSE(is_equal(0.1, -0.1001)); EXPECT_TRUE(is_equal(0.f, 0.0f)); EXPECT_FALSE(is_equal(1.f, 1.f + FLT_EPSILON)); EXPECT_TRUE(is_equal(1.f, 1.f + FLT_EPSILON / 2.f)); EXPECT_TRUE(is_equal(1.f, (float)(1.f - DBL_EPSILON))); // false because the common type is double EXPECT_FALSE(is_equal(double(1.), 1 + 2 * std::numeric_limits::epsilon())); // true because the common type is float EXPECT_TRUE(is_equal(1.f, (float)(1. + std::numeric_limits::epsilon()))); EXPECT_TRUE(is_equal(short(1), short(1))); EXPECT_TRUE(is_equal(long(1), long(1))); } TEST(MathTest, Square) { float sq_0 = sq(0); float sq_1 = sq(1); float sq_2 = sq(2); EXPECT_EQ(0.f, sq_0); EXPECT_EQ(1.f, sq_1); EXPECT_EQ(4.f, sq_2); AP_Float t_sqfloat; t_sqfloat.set(sq(2)); EXPECT_EQ(4.f, t_sqfloat); EXPECT_FLOAT_EQ(sq(2.3), 5.289999999999999); // uses template sq EXPECT_FLOAT_EQ(sq(2.3f), 5.29); // uses sq(float v) EXPECT_EQ(sq(4294967295), 18446744065119617025U); // uses template sq EXPECT_FLOAT_EQ(sq(4294967295.0), 1.8446744e+19); // uses template sq EXPECT_FLOAT_EQ(sq(pow(2,25)), pow(2,50)); } TEST(MathTest, Norm) { float norm_1 = norm(1, 4.2); float norm_2 = norm(1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1); float norm_3 = norm(0, 5.3); float norm_4 = norm(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0); float norm_5 = norm(3,4); float norm_6 = norm(4,3,12); AP_Float t_float1, t_float2, t_float3; t_float1.set(4.0f); t_float2.set(3.0f); t_float3.set(12.f); float norm_7 = norm(t_float1, t_float2, t_float3); EXPECT_FLOAT_EQ(norm_1, 4.3174066f); EXPECT_EQ(norm_2, 4.f); EXPECT_EQ(norm_3, 5.3f); EXPECT_EQ(norm_4, 0.f); EXPECT_EQ(norm_5, 5.f); EXPECT_EQ(norm_6, 13.f); EXPECT_EQ(norm_7, 13.f); } TEST(MathTest, Constrain) { for (int i = 0; i < 1000; i++) { if (i < 250) { EXPECT_EQ(250, constrain_float(i, 250, 500)); EXPECT_EQ(250, constrain_int16(i, 250, 500)); EXPECT_EQ(250, constrain_int32(i, 250, 500)); EXPECT_EQ(250, constrain_int64(i, 250, 500)); } else if (i > 500) { EXPECT_EQ(500, constrain_float(i, 250, 500)); EXPECT_EQ(500, constrain_int16(i, 250, 500)); EXPECT_EQ(500, constrain_int32(i, 250, 500)); EXPECT_EQ(500, constrain_int64(i, 250, 500)); } else { EXPECT_EQ(i, constrain_float(i, 250, 500)); EXPECT_EQ(i, constrain_int16(i, 250, 500)); EXPECT_EQ(i, constrain_int32(i, 250, 500)); EXPECT_EQ(i, constrain_int64(i, 250, 500)); } } for (int i = 0; i <= 1000; i++) { int c = i - 1000; if (c < -250) { EXPECT_EQ(-250, constrain_float(c, -250, -50)); EXPECT_EQ(-250, constrain_int16(c, -250, -50)); EXPECT_EQ(-250, constrain_int32(c, -250, -50)); EXPECT_EQ(-250, constrain_int64(c, -250, -50)); } else if(c > -50) { EXPECT_EQ(-50, constrain_float(c, -250, -50)); EXPECT_EQ(-50, constrain_int16(c, -250, -50)); EXPECT_EQ(-50, constrain_int32(c, -250, -50)); EXPECT_EQ(-50, constrain_int64(c, -250, -50)); } else { EXPECT_EQ(c, constrain_float(c, -250, -50)); EXPECT_EQ(c, constrain_int16(c, -250, -50)); EXPECT_EQ(c, constrain_int32(c, -250, -50)); EXPECT_EQ(c, constrain_int64(c, -250, -50)); } } for (int i = 0; i <= 2000; i++) { int c = i - 1000; if (c < -250) { EXPECT_EQ(-250, constrain_float(c, -250, 50)); EXPECT_EQ(-250, constrain_int16(c, -250, 50)); EXPECT_EQ(-250, constrain_int32(c, -250, 50)); EXPECT_EQ(-250, constrain_int64(c, -250, 50)); } else if(c > 50) { EXPECT_EQ(50, constrain_float(c, -250, 50)); EXPECT_EQ(50, constrain_int16(c, -250, 50)); EXPECT_EQ(50, constrain_int32(c, -250, 50)); EXPECT_EQ(50, constrain_int64(c, -250, 50)); } else { EXPECT_EQ(c, constrain_float(c, -250, 50)); EXPECT_EQ(c, constrain_int16(c, -250, 50)); EXPECT_EQ(c, constrain_int32(c, -250, 50)); EXPECT_EQ(c, constrain_int64(c, -250, 50)); } } EXPECT_EQ(20.0, constrain_value(20.0, 19.9, 20.1)); EXPECT_EQ(20.0f, constrain_value(20.0f, 19.9f, 20.1f)); EXPECT_EQ((long long int)20, constrain_value((long long int)20, (long long int)19, (long long int)20)); EXPECT_EQ(20.1, constrain_value(21.0, 19.9, 20.1)); EXPECT_EQ(20.1f, constrain_value(21.0f, 19.9f, 20.1f)); EXPECT_EQ(19.9, constrain_value(19.9, 19.9, 20.1)); EXPECT_EQ(19.9f, constrain_value(19.9f, 19.9f, 20.1f)); EXPECT_EQ(19.9, constrain_value(19.8, 19.9, 20.1)); EXPECT_EQ(19.9f, constrain_value(19.8f, 19.9f, 20.1f)); // test that constrain on 32 bit integer works correctly. Note the asymmetry EXPECT_EQ(10, constrain_int32( 0xFFFFFFFFU, 10U, 1200U)); EXPECT_EQ(1200U, constrain_uint32(0xFFFFFFFFU, 10U, 1200U)); #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX EXPECT_EQ(1.0f, constrain_float(nanf("0x4152"), 1.0f, 1.0f)); EXPECT_EQ(1.0f, constrain_value(nanf("0x4152"), 1.0f, 1.0f)); #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL EXPECT_EXIT(constrain_float(nanf("0x4152"), 1.0f, 1.0f), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::cnstring_nan"); EXPECT_EXIT(constrain_value(nanf("0x4152"), 1.0f, 1.0f), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::cnstring_nan"); #endif } TEST(MathWrapTest, Angle180) { // Full circle test for (int32_t i = 0; i < 36000; i += 100) { if (i < 18000) { // smaller pole position EXPECT_EQ(i, wrap_180_cd(i)); EXPECT_EQ(-i, wrap_180_cd(-i)); EXPECT_EQ(i, wrap_180_cd((long)i)); EXPECT_EQ(-i, wrap_180_cd((long)-i)); } else if (i == 18000) { // hit pole position -180/+180 degree EXPECT_EQ(i, wrap_180_cd(i)); EXPECT_EQ(i, wrap_180_cd(-i)); EXPECT_EQ(i, wrap_180_cd((long)i)); EXPECT_EQ(i, wrap_180_cd((long)-i)); } else { // bigger pole position EXPECT_EQ(-(36000 - i), wrap_180_cd(i)); EXPECT_EQ(36000 - i, wrap_180_cd(-i)); EXPECT_EQ(-(36000 - i), wrap_180_cd((long)i)); EXPECT_EQ(36000 - i, wrap_180_cd((long)-i)); } } EXPECT_EQ(4500.f, wrap_180_cd(4500.f)); EXPECT_EQ(9000.f, wrap_180_cd(9000.f)); EXPECT_EQ(18000.f, wrap_180_cd(18000.f)); EXPECT_EQ(-17990.f, wrap_180_cd(18010.f)); EXPECT_EQ(-9000.f, wrap_180_cd(27000.f)); EXPECT_EQ(0.f, wrap_180_cd(36000.f)); EXPECT_EQ(0.f, wrap_180_cd(72000.f)); EXPECT_EQ(0.f, wrap_180_cd(360000.f)); EXPECT_EQ(0.f, wrap_180_cd(720000.f)); EXPECT_EQ(0.f, wrap_180_cd(-3600000000.f)); EXPECT_EQ(-4500.f, wrap_180_cd(-4500.f)); EXPECT_EQ(-9000.f, wrap_180_cd(-9000.f)); EXPECT_EQ(18000.f, wrap_180_cd(-18000.f)); EXPECT_EQ(17990.f, wrap_180_cd(-18010.f)); EXPECT_EQ(9000.f, wrap_180_cd(-27000.f)); EXPECT_EQ(0.f, wrap_180_cd(-36000.f)); EXPECT_EQ(0.f, wrap_180_cd(-72000.f)); EXPECT_EQ(4500, wrap_180_cd((short)4500)); EXPECT_EQ(-4500, wrap_180_cd((short)-4500)); EXPECT_EQ(45, wrap_180(int16_t(45))); EXPECT_EQ(90, wrap_180(int16_t(90))); EXPECT_EQ(180, wrap_180(int16_t(180))); EXPECT_EQ(-179, wrap_180(int16_t(181))); EXPECT_EQ(-90, wrap_180(int16_t(270))); EXPECT_EQ(0, wrap_180(int16_t(360))); EXPECT_EQ(0, wrap_180(int16_t(720))); EXPECT_EQ(0, wrap_180(int16_t(3600))); EXPECT_EQ(0, wrap_180((int16_t(7200)))); EXPECT_EQ(0, wrap_180((int16_t)-3600)); } TEST(MathWrapTest, Angle360) { // Full circle test for (int32_t i = 0; i <= 36000; i += 100) { if (i == 0) { // hit pole position EXPECT_EQ(i, wrap_360_cd(i)); EXPECT_EQ(i, wrap_360_cd(-i)); EXPECT_EQ(i, wrap_360_cd(long(i))); EXPECT_EQ(i, wrap_360_cd(long(-i))); } else if (i < 36000) { // between pole position EXPECT_EQ(i, wrap_360_cd(i)); EXPECT_EQ(36000 - i, wrap_360_cd(-i)); EXPECT_EQ(i, wrap_360_cd(long(i))); EXPECT_EQ(36000 - i, wrap_360_cd(long(-i))); } else if (i == 36000) { // hit pole position EXPECT_EQ(0, wrap_360_cd(i)); EXPECT_EQ(0, wrap_360_cd(-i)); EXPECT_EQ(0, wrap_360_cd(long(i))); EXPECT_EQ(0, wrap_360_cd(long(-i))); } } EXPECT_EQ(4500.f, wrap_360_cd(4500.f)); EXPECT_EQ(9000.f, wrap_360_cd(9000.f)); EXPECT_EQ(18000.f, wrap_360_cd(18000.f)); EXPECT_EQ(27000.f, wrap_360_cd(27000.f)); EXPECT_EQ(0.f, wrap_360_cd(36000.f)); EXPECT_EQ(5.f, wrap_360_cd(36005.f)); EXPECT_EQ(0.f, wrap_360_cd(72000.f)); EXPECT_EQ(0.f, wrap_360_cd(360000.f)); EXPECT_EQ(0.f, wrap_360_cd(720000.f)); EXPECT_EQ( 0.f, wrap_360_cd(-3600000000.f)); EXPECT_EQ(31500.f, wrap_360_cd(-4500.f)); EXPECT_EQ(27000.f, wrap_360_cd(-9000.f)); EXPECT_EQ(18000.f, wrap_360_cd(-18000.f)); EXPECT_EQ(9000.f, wrap_360_cd(-27000.f)); EXPECT_EQ(0.f, wrap_360_cd(-36000.f)); EXPECT_EQ(35995.0f,wrap_360_cd(-36005.f)); EXPECT_EQ(0.f, wrap_360_cd(-72000.f)); EXPECT_EQ(45.0f, wrap_360(45.0f)); EXPECT_EQ(90.0f, wrap_360(90.0f)); EXPECT_EQ(180.0f, wrap_360(180.0f)); EXPECT_EQ(270.0f, wrap_360(270.0f)); EXPECT_EQ(0.0f, wrap_360(360.0f)); EXPECT_EQ(1.0f, wrap_360(361.0f)); EXPECT_EQ(0.0f, wrap_360(720.0f)); EXPECT_EQ(0.0f, wrap_360(3600.0f)); EXPECT_EQ(0.0f, wrap_360(7200.0f)); EXPECT_EQ(260.0f, wrap_360(-100.0f)); EXPECT_EQ(45, wrap_360((int16_t)45)); EXPECT_EQ(90, wrap_360((int16_t)90)); EXPECT_EQ(180, wrap_360((int16_t)180)); EXPECT_EQ(270, wrap_360((int16_t)270)); EXPECT_EQ(0, wrap_360((int16_t)360)); EXPECT_EQ(1, wrap_360((int16_t)361)); EXPECT_EQ(0, wrap_360((int16_t)720)); EXPECT_EQ(0, wrap_360((int16_t)3600)); EXPECT_EQ(0, wrap_360((int16_t)7200)); EXPECT_EQ(260, wrap_360((int16_t)-100)); } TEST(MathWrapTest, AnglePI) { const float accuracy = 1.0e-5; EXPECT_NEAR(M_PI, wrap_PI(M_PI), accuracy); EXPECT_NEAR(0.f, wrap_PI(M_2PI), accuracy); EXPECT_NEAR(0, wrap_PI(M_PI * 10), accuracy); EXPECT_NEAR(-2.1415925025939941f, wrap_PI(M_PI+1), accuracy); EXPECT_NEAR(1.f, wrap_PI(1), accuracy); EXPECT_NEAR(1.f, wrap_PI((short)1), accuracy); } TEST(MathWrapTest, Angle2PI) { const float accuracy = 1.0e-5; EXPECT_NEAR(M_PI, wrap_2PI(M_PI), accuracy); EXPECT_NEAR(0.f, wrap_2PI(M_2PI), accuracy); EXPECT_NEAR(0.f, wrap_2PI(M_PI * 10), accuracy); EXPECT_NEAR(0.f, wrap_2PI(0.f), accuracy); EXPECT_NEAR(M_PI, wrap_2PI(-M_PI), accuracy); EXPECT_NEAR(0, wrap_2PI(-M_2PI), accuracy); EXPECT_NEAR(1, wrap_2PI(1), accuracy); EXPECT_NEAR(1, wrap_2PI((short)1), accuracy); } TEST(MathTest, ASin) { const float accuracy = 1.0e-5; EXPECT_NEAR(0.0f, safe_asin(0.0f), accuracy); EXPECT_NEAR(0.9033391107665127f, safe_asin(M_PI_2 * 0.5f), accuracy); EXPECT_NEAR(M_PI_2, safe_asin(M_PI_2 ), accuracy); EXPECT_NEAR(M_PI_2, safe_asin(M_PI), accuracy); EXPECT_NEAR(M_PI_2, safe_asin(M_2PI), accuracy); EXPECT_NEAR(-M_PI_2, safe_asin(-M_PI_2), accuracy); EXPECT_NEAR(-M_PI_2, safe_asin(-M_PI), accuracy); EXPECT_NEAR(-0.9033391107665127f, safe_asin(-M_PI_2 * 0.5f), accuracy); EXPECT_NEAR(0.0f, safe_asin(nanf("0x4152")), accuracy); EXPECT_NEAR(0.0f, safe_asin(int(0)), accuracy); EXPECT_NEAR(0.0f, safe_asin(short(0)), accuracy); EXPECT_NEAR(0.0f, safe_asin(double(0.0)), accuracy); } TEST(MathTest, Sqrt) { const float accuracy = 1.0e-5; EXPECT_NEAR(0.0f, safe_sqrt(0.0f), accuracy); EXPECT_NEAR(32.0f, safe_sqrt(1024.0f), accuracy); EXPECT_NEAR(0.0f, safe_sqrt(-1.0f), accuracy); EXPECT_NEAR(0.0f, safe_sqrt(nanf("0x4152")), accuracy); EXPECT_NEAR(0.0f, safe_sqrt(int(0)), accuracy); EXPECT_NEAR(0.0f, safe_sqrt(short(0)), accuracy); EXPECT_NEAR(0.0f, safe_sqrt(double(0.0)), accuracy); } TEST(MathTest, Interpolation) { const float accuracy = 1.0e-5; EXPECT_NEAR(1500.0f, linear_interpolate(1200.0f, 1800.0f, 1500.0f, 1000.0f, 2000.0f), accuracy); EXPECT_NEAR(1740.0f, linear_interpolate(1200.0f, 1800.0f, 1900.0f, 1000.0f, 2000.0f), accuracy); EXPECT_NEAR(1200.0f, linear_interpolate(1200.0f, 1800.0f, 1000.0f, 1000.0f, 2000.0f), accuracy); EXPECT_NEAR(1000.0f, linear_interpolate(1000.0f, 2000.0f, 1100.0f, 1200.0f, 1800.0f), accuracy); EXPECT_NEAR(2000.0f, linear_interpolate(1000.0f, 2000.0f, 1900.0f, 1200.0f, 1800.0f), accuracy); } TEST(MathTest, ThrottleCurve) { // get hover throttle level [0,1] static constexpr float THR_MID = 0.5f; const float accuracy = 1.0e-5; EXPECT_NEAR(0.0f, throttle_curve(THR_MID, 0.0f, 0.0f), accuracy); EXPECT_NEAR(0.25f, throttle_curve(THR_MID, 0.0f, 0.25f), accuracy); EXPECT_NEAR(0.5f, throttle_curve(THR_MID, 0.0f, 0.5f), accuracy); EXPECT_NEAR(0.75f, throttle_curve(THR_MID, 0.0f, 0.75f), accuracy); EXPECT_NEAR(1.0f, throttle_curve(THR_MID, 0.0f, 1.0f), accuracy); EXPECT_NEAR(0.0f, throttle_curve(THR_MID, 0.25f, 0.0f), accuracy); EXPECT_NEAR(0.296875f, throttle_curve(THR_MID, 0.25f, 0.25f), accuracy); EXPECT_NEAR(0.5f, throttle_curve(THR_MID, 0.25f, 0.5f), accuracy); EXPECT_NEAR(0.703125f, throttle_curve(THR_MID, 0.25f, 0.75f), accuracy); EXPECT_NEAR(1.0f, throttle_curve(THR_MID, 0.25f, 1.0f), accuracy); EXPECT_NEAR(0.0f, throttle_curve(THR_MID, 0.5f, 0.0f), accuracy); EXPECT_NEAR(0.34375f, throttle_curve(THR_MID, 0.5f, 0.25f), accuracy); EXPECT_NEAR(0.5f, throttle_curve(THR_MID, 0.5f, 0.5f), accuracy); EXPECT_NEAR(0.65625f, throttle_curve(THR_MID, 0.5f, 0.75f), accuracy); EXPECT_NEAR(1.0f, throttle_curve(THR_MID, 0.5f, 1.0f), accuracy); EXPECT_NEAR(0.0f, throttle_curve(THR_MID, 0.75f, 0.0f), accuracy); EXPECT_NEAR(0.390625f, throttle_curve(THR_MID, 0.75f, 0.25f), accuracy); EXPECT_NEAR(0.5f, throttle_curve(THR_MID, 0.75f, 0.5f), accuracy); EXPECT_NEAR(0.609375f, throttle_curve(THR_MID, 0.75f, 0.75f), accuracy); EXPECT_NEAR(1.0f, throttle_curve(THR_MID, 0.75f, 1.0f), accuracy); EXPECT_NEAR(0.0f, throttle_curve(THR_MID, 1.0f, 0.0f), accuracy); EXPECT_NEAR(0.4375f, throttle_curve(THR_MID, 1.0f, 0.25f), accuracy); EXPECT_NEAR(0.5f, throttle_curve(THR_MID, 1.0f, 0.5f), accuracy); EXPECT_NEAR(0.5625f, throttle_curve(THR_MID, 1.0f, 0.75f), accuracy); EXPECT_NEAR(1.0f, throttle_curve(THR_MID, 1.0f, 1.0f), accuracy); } TEST(MathTest, RotationEqual) { EXPECT_TRUE(rotation_equal(ROTATION_ROLL_180_YAW_90, ROTATION_ROLL_180_YAW_90)); EXPECT_TRUE(rotation_equal(ROTATION_ROLL_180_YAW_90, ROTATION_PITCH_180_YAW_270)); EXPECT_FALSE(rotation_equal(ROTATION_NONE, ROTATION_PITCH_180_YAW_270)); } TEST(MathTest, FIXED2FLOAT) { static constexpr uint16_t test_value = 1024; EXPECT_EQ(512.0f, fixed2float(test_value, 1)); EXPECT_EQ(256.0f, fixed2float(test_value, 2)); } TEST(MathTest, FLOAT2FIXED) { static constexpr float test_value = 1024.0f; EXPECT_EQ(2048, float2fixed(test_value, 1)); EXPECT_EQ(4096, float2fixed(test_value, 2)); } TEST(MathTest, RANDOM16) { static const uint16_t random_value = get_random16(); EXPECT_NE(random_value, get_random16()); } TEST(MathTest, VELCORRECTION) { static constexpr Vector3F pos{1.0f, 1.0f, 0.0f}; static constexpr Matrix3F rot(0.0f, -1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f); static constexpr Vector3F rate{-1.0f, -1.0f, -1.0f}; EXPECT_TRUE(Vector3F(1.0f, 1.0f, 0.0f) == get_vel_correction_for_sensor_offset(pos, rot, rate)); EXPECT_TRUE(Vector3F() == get_vel_correction_for_sensor_offset(Vector3F(), rot, rate)); } TEST(MathTest, LOWPASSALPHA) { const float accuracy = 1.0e-5f; EXPECT_EQ(0.0f, calc_lowpass_alpha_dt(0.0f, 2.0f)); EXPECT_EQ(1.0f, calc_lowpass_alpha_dt(1.0f, 0.0f)); EXPECT_NEAR(0.926288f, calc_lowpass_alpha_dt(1.0f, 2.0f), accuracy); } TEST(MathTest, FIXEDWINGTURNRATE) { const float accuracy = 1.0e-5f; EXPECT_NEAR(-318.65771484375f, fixedwing_turn_rate(-90, 10.0f), accuracy); EXPECT_NEAR(318.65771484375f, fixedwing_turn_rate(90, 10.0f), accuracy); EXPECT_NEAR(56.187965393066406f, fixedwing_turn_rate(45, 10.0f), accuracy); } TEST(CRCTest, parity) { EXPECT_EQ(parity(0b1), 1); EXPECT_EQ(parity(0b10), 1); EXPECT_EQ(parity(0b100), 1); EXPECT_EQ(parity(0b11), 0); EXPECT_EQ(parity(0b110), 0); EXPECT_EQ(parity(0b111), 1); EXPECT_EQ(parity(0b11111111), 0); } TEST(MathTest, div1000) { for (uint32_t i=0; i<1000000; i++) { uint64_t v; EXPECT_EQ(hal.util->get_random_vals((uint8_t*)&v, sizeof(v)), true); uint64_t v1 = v / 1000ULL; uint64_t v2 = uint64_div1000(v); EXPECT_EQ(v1, v2); } } AP_GTEST_PANIC() AP_GTEST_MAIN() #pragma GCC diagnostic pop