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EKF tests update SWIG usage and use latest containers

This commit is contained in:
Daniel Agar 2019-02-03 15:56:44 -05:00
parent dd58e69549
commit c5554cae96
4 changed files with 16 additions and 44 deletions
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5
EKF/swig/python/CMakeLists.txt
View File

@ -14,7 +14,10 @@ set_source_files_properties(../ecl_EKF.i PROPERTIES CPLUSPLUS ON)
include_directories(../..)
# Add swig module
swig_add_module(ecl_EKF python ../ecl_EKF.i)
swig_add_library(ecl_EKF
LANGUAGE python
SOURCES ../ecl_EKF.i
)
swig_link_libraries(ecl_EKF ecl_EKF ${PYTHON_LIBRARIES})
# Files to install with Python

8
EKF/tests/pytest/test_altitude.py
View File

@ -133,13 +133,13 @@ def test_converges_to_baro_altitude(altitude):
Increase the altitude with a bang-bang acceleration profile to target
altitude, then wait there for a while and make sure it converges
"""
# Due to hypothesis not interacting with pytest, cannot use fixture here
ekf, time_usec = initialized_ekf()
ekf = ecl_EKF.Ekf()
time_usec = 1000
dt_usec = ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000
# No samples, half are used for ramping up / down to the altitude
n_samples = 200
# Run for a while
n_samples = 10000
# Compute smooth acceleration profile
rampup_accel = altitude / (((n_samples // 2 // 2) * (dt_usec / 1e6))**2)

31
Jenkinsfile vendored
View File

@ -7,7 +7,7 @@ pipeline {
stage('Linux GCC') {
agent {
docker {
image 'px4io/px4-dev-base:2019-01-28'
image 'px4io/px4-dev-base:2019-01-31'
args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -27,7 +27,7 @@ pipeline {
stage('Linux Clang') {
agent {
docker {
image 'px4io/px4-dev-clang:2019-01-28'
image 'px4io/px4-dev-clang:2019-01-31'
args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -74,7 +74,7 @@ pipeline {
stage('coverage') {
agent {
docker {
image 'px4io/px4-dev-ecl:2019-01-28'
image 'px4io/px4-dev-ecl:2019-01-31'
args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -105,7 +105,7 @@ pipeline {
stage('EKF pytest') {
agent {
docker {
image 'px4io/px4-dev-ecl:2019-01-28'
image 'px4io/px4-dev-ecl:2019-01-31'
args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -123,7 +123,7 @@ pipeline {
stage('test') {
agent {
docker {
image 'px4io/px4-dev-ecl:2019-01-28'
image 'px4io/px4-dev-ecl:2019-01-31'
args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -137,27 +137,10 @@ pipeline {
}
}
stage('test (asan)') {
agent {
docker {
image 'px4io/px4-dev-ecl:2019-01-28'
args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'ccache -z'
sh 'make distclean'
sh 'make test_asan'
sh 'ccache -s'
sh 'make distclean'
}
}
stage('doxygen') {
agent {
docker {
image 'px4io/px4-dev-base:2019-01-28'
image 'px4io/px4-dev-base:2019-01-31'
args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -183,7 +166,7 @@ pipeline {
stage('PX4/Firmware build') {
agent {
docker {
image 'px4io/px4-dev-base:2019-01-28'
image 'px4io/px4-dev-base:2019-01-31'
args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}

16
ecl.h
View File

@ -67,19 +67,5 @@ using ecl_abstime = uint64_t;
#endif /* PX4_POSIX || PX4_NUTTX */
#if defined(__PX4_QURT)
// Missing math.h defines
#define ISFINITE(x) __builtin_isfinite(x)
#else /* !QuRT */
#include <cmath>
#if defined(__cplusplus) && !defined(__PX4_NUTTX)
#define ISFINITE(x) std::isfinite(x)
#else
#define ISFINITE(x) isfinite(x)
#endif
#endif
#define ISFINITE(x) __builtin_isfinite(x)