mirror of https://github.com/ArduPilot/ardupilot
131 lines
5.9 KiB
C++
131 lines
5.9 KiB
C++
/*
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test atmospheric model
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to build, use:
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./waf configure --board sitl --debug
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./waf --target tests/test_baro_atmosphere
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*/
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#include <AP_gtest.h>
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#include <AP_Baro/AP_Baro.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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TEST(AP_Baro, get_air_density_for_alt_amsl)
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{
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float accuracy = 1E-6;
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EXPECT_NEAR(AP_Baro::get_air_density_for_alt_amsl(-4000), 1.7697266, accuracy);
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EXPECT_NEAR(AP_Baro::get_air_density_for_alt_amsl(6000), 0.66011156, accuracy);
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EXPECT_NEAR(AP_Baro::get_air_density_for_alt_amsl(17500), 131.5688E-3, accuracy);
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EXPECT_NEAR(AP_Baro::get_air_density_for_alt_amsl(25000), 40.08393E-3, accuracy);
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EXPECT_NEAR(AP_Baro::get_air_density_for_alt_amsl(40000), 3.99567824728293E-3, accuracy);
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EXPECT_NEAR(AP_Baro::get_air_density_for_alt_amsl(49000), 1.16276961471707E-3, accuracy);
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EXPECT_NEAR(AP_Baro::get_air_density_for_alt_amsl(65000), 163.210100967015E-6, accuracy);
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EXPECT_NEAR(AP_Baro::get_air_density_for_alt_amsl(78000), 25.2385188936996E-6, accuracy);
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}
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TEST(AP_Baro, get_altitude_from_pressure)
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{
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AP_Baro baro;
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float accuracy = 1.5E-1;
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EXPECT_NEAR(baro.get_altitude_from_pressure(159598.2), -4000, accuracy);
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EXPECT_NEAR(baro.get_altitude_from_pressure(47217.6), 6000, accuracy);
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EXPECT_NEAR(baro.get_altitude_from_pressure(8182.3), 17500, accuracy);
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EXPECT_NEAR(baro.get_altitude_from_pressure(2549.2), 25000, accuracy);
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EXPECT_NEAR(baro.get_altitude_from_pressure(287.1441), 40000, accuracy);
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EXPECT_NEAR(baro.get_altitude_from_pressure(90.3365), 49000, accuracy);
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EXPECT_NEAR(baro.get_altitude_from_pressure(10.9297), 65000, accuracy);
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EXPECT_NEAR(baro.get_altitude_from_pressure(1.4674), 78000, accuracy);
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}
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TEST(AP_Baro, get_temperature_from_altitude)
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{
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AP_Baro baro;
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EXPECT_FLOAT_EQ(baro.get_temperature_from_altitude(-4000), 314.166370821781);
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EXPECT_FLOAT_EQ(baro.get_temperature_from_altitude(6000), 249.186776458540);
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EXPECT_FLOAT_EQ(baro.get_temperature_from_altitude(17500), 216.650000000000);
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EXPECT_FLOAT_EQ(baro.get_temperature_from_altitude(25000), 221.552064726284);
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EXPECT_FLOAT_EQ(baro.get_temperature_from_altitude(40000), 250.349646102421);
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EXPECT_FLOAT_EQ(baro.get_temperature_from_altitude(49000), 270.650000000000);
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EXPECT_FLOAT_EQ(baro.get_temperature_from_altitude(65000), 233.292172386848);
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EXPECT_FLOAT_EQ(baro.get_temperature_from_altitude(78000), 202.540977853740);
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}
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TEST(AP_Baro, geopotential_alt_to_geometric)
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{
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EXPECT_FLOAT_EQ(AP_Baro::geopotential_alt_to_geometric(-4002.51858796625), -4000);
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EXPECT_FLOAT_EQ(AP_Baro::geopotential_alt_to_geometric(5994.34208330151), 6000.0);
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EXPECT_FLOAT_EQ(AP_Baro::geopotential_alt_to_geometric(17451.9552525734), 17500);
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EXPECT_FLOAT_EQ(AP_Baro::geopotential_alt_to_geometric(24902.0647262842), 25000);
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EXPECT_FLOAT_EQ(AP_Baro::geopotential_alt_to_geometric(39749.8736080075), 40000);
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EXPECT_FLOAT_EQ(AP_Baro::geopotential_alt_to_geometric(48625.1814380981), 49000);
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EXPECT_FLOAT_EQ(AP_Baro::geopotential_alt_to_geometric(64342.0812904114), 65000);
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EXPECT_FLOAT_EQ(AP_Baro::geopotential_alt_to_geometric(77054.5110731299), 78000);
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}
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TEST(AP_Baro, geometric_alt_to_geopotential)
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{
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EXPECT_FLOAT_EQ(AP_Baro::geometric_alt_to_geopotential(-4000), -4002.51858796625);
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EXPECT_FLOAT_EQ(AP_Baro::geometric_alt_to_geopotential(6000), 5994.34208330151);
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EXPECT_FLOAT_EQ(AP_Baro::geometric_alt_to_geopotential(17500), 17451.9552525734);
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EXPECT_FLOAT_EQ(AP_Baro::geometric_alt_to_geopotential(25000), 24902.0647262842);
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EXPECT_FLOAT_EQ(AP_Baro::geometric_alt_to_geopotential(40000), 39749.8736080075);
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EXPECT_FLOAT_EQ(AP_Baro::geometric_alt_to_geopotential(49000), 48625.1814380981);
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EXPECT_FLOAT_EQ(AP_Baro::geometric_alt_to_geopotential(65000), 64342.0812904114);
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EXPECT_FLOAT_EQ(AP_Baro::geometric_alt_to_geopotential(78000), 77054.5110731299);
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}
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TEST(AP_Baro, get_pressure_temperature_for_alt_amsl)
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{
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float accuracy = 1E-6;
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// layer 0 -4000 m
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float pressure, temperature_K;
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AP_Baro::get_pressure_temperature_for_alt_amsl(-4000, pressure, temperature_K);
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// EXPECT_FLOAT_EQ(pressure, 159598.164433755); // Matlab
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EXPECT_FLOAT_EQ(pressure, 159598.09375);
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EXPECT_FLOAT_EQ(temperature_K, 314.166370821781);
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// layer 0: 6000 m
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AP_Baro::get_pressure_temperature_for_alt_amsl(6000, pressure, temperature_K);
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EXPECT_FLOAT_EQ(pressure, 47217.6489854302);
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EXPECT_FLOAT_EQ(temperature_K, 249.186776458540);
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// layer 1: 17500 m
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AP_Baro::get_pressure_temperature_for_alt_amsl(17500, pressure, temperature_K);
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EXPECT_FLOAT_EQ(pressure, 8182.27857345022);
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EXPECT_FLOAT_EQ(temperature_K, 216.650000000000);
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// layer 2: 25000m
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AP_Baro::get_pressure_temperature_for_alt_amsl(25000, pressure, temperature_K);
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// EXPECT_FLOAT_EQ(pressure, 2549.22361148236); // Matlab
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EXPECT_FLOAT_EQ(pressure, 2549.2251);
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EXPECT_FLOAT_EQ(temperature_K, 221.552064726284);
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// layer 3: 40000m
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AP_Baro::get_pressure_temperature_for_alt_amsl(40000, pressure, temperature_K);
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EXPECT_FLOAT_EQ(pressure, 287.144059695555);
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EXPECT_FLOAT_EQ(temperature_K, 250.349646102421);
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// layer 4: 49000m
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AP_Baro::get_pressure_temperature_for_alt_amsl(49000, pressure, temperature_K);
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EXPECT_FLOAT_EQ(pressure, 90.3365441635632);
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EXPECT_FLOAT_EQ(temperature_K, 270.650000000000);
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// layer 5: 65000m
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AP_Baro::get_pressure_temperature_for_alt_amsl(65000, pressure, temperature_K);
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// EXPECT_FLOAT_EQ(pressure, 10.9297197424037); // Matlab
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EXPECT_FLOAT_EQ(pressure, 10.929715);
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EXPECT_FLOAT_EQ(temperature_K, 233.292172386848);
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// layer 6: 78000m
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AP_Baro::get_pressure_temperature_for_alt_amsl(78000, pressure, temperature_K);
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// EXPECT_FLOAT_EQ(pressure, 1.46736727632119); // matlab
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EXPECT_NEAR(pressure, 1.4673687, accuracy);
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EXPECT_FLOAT_EQ(temperature_K, 202.540977853740);
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}
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AP_GTEST_MAIN()
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