mirror of https://github.com/ArduPilot/ardupilot
153 lines
3.8 KiB
Plaintext
153 lines
3.8 KiB
Plaintext
/// -*- 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 polygon 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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#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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#include <Filter.h>
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#include <SITL.h>
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#include <I2C.h>
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#include <SPI.h>
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#include <AP_Declination.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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SITL sitl;
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#endif
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FastSerialPort(Serial, 0);
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static const struct {
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Vector2f wp1, wp2, location;
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bool passed;
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} test_points[] = {
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{ Vector2f(-35.3647759314918, 149.16265692810987),
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Vector2f(-35.36279922658029, 149.16352169591426),
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Vector2f(-35.36214956969903, 149.16461410046492), true },
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{ Vector2f(-35.36438601157189, 149.16613916088568),
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Vector2f(-35.364432558610254, 149.16287313113048),
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Vector2f(-35.36491510034746, 149.16365837225004), false },
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{ Vector2f(0, 0),
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Vector2f(0, 1),
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Vector2f(0, 2), true },
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{ Vector2f(0, 0),
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Vector2f(0, 2),
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Vector2f(0, 1), false },
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{ Vector2f(0, 0),
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Vector2f(1, 0),
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Vector2f(2, 0), true },
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{ Vector2f(0, 0),
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Vector2f(2, 0),
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Vector2f(1, 0), false },
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{ Vector2f(0, 0),
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Vector2f(-1, 1),
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Vector2f(-2, 2), true },
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};
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#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
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static struct Location location_from_point(Vector2f pt)
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{
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struct Location loc = {0};
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loc.lat = pt.x * 1.0e7;
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loc.lng = pt.y * 1.0e7;
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return loc;
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}
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static void test_passed_waypoint(void)
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{
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Serial.println("waypoint tests starting");
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for (uint8_t i=0; i<ARRAY_LENGTH(test_points); i++) {
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struct Location loc = location_from_point(test_points[i].location);
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struct Location wp1 = location_from_point(test_points[i].wp1);
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struct Location wp2 = location_from_point(test_points[i].wp2);
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if (location_passed_point(loc, wp1, wp2) != test_points[i].passed) {
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Serial.printf("Failed waypoint test %u\n", (unsigned)i);
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return;
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}
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}
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Serial.println("waypoint tests OK");
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}
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static void test_one_offset(struct Location &loc,
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float ofs_north, float ofs_east,
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float dist, float bearing)
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{
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struct Location loc2;
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float dist2, bearing2;
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loc2 = loc;
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uint32_t t1 = micros();
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location_offset(&loc2, ofs_north, ofs_east);
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Serial.printf("location_offset took %u usec\n",
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micros() - t1);
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dist2 = get_distance(&loc, &loc2);
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bearing2 = get_bearing_cd(&loc, &loc2) * 0.01;
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float brg_error = bearing2-bearing;
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if (brg_error > 180) {
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brg_error -= 360;
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} else if (brg_error < -180) {
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brg_error += 360;
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}
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if (fabs(dist - dist2) > 1.0 ||
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brg_error > 1.0) {
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Serial.printf("Failed offset test brg_error=%f dist_error=%f\n",
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brg_error, dist-dist2);
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}
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}
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static const struct {
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float ofs_north, ofs_east, distance, bearing;
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} test_offsets[] = {
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{ 1000, 1000, sqrt(2.0)*1000, 45 },
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{ 1000, -1000, sqrt(2.0)*1000, -45 },
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{ 1000, 0, 1000, 0 },
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{ 0, 1000, 1000, 90 },
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};
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static void test_offset(void)
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{
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struct Location loc;
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loc.lat = -35*1.0e7;
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loc.lng = 149*1.0e7;
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for (uint8_t i=0; i<ARRAY_LENGTH(test_offsets); i++) {
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test_one_offset(loc,
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test_offsets[i].ofs_north,
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test_offsets[i].ofs_east,
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test_offsets[i].distance,
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test_offsets[i].bearing);
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}
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}
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/*
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polygon 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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test_passed_waypoint();
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test_offset();
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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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