forked from Archive/PX4-Autopilot
80 lines
2.8 KiB
C++
80 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <math.h>
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#include "EKF/ekf.h"
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class EkfMeasurementSamplingTest : public ::testing::Test
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{
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public:
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EkfMeasurementSamplingTest(): ::testing::Test(),
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_ekf{std::make_shared<Ekf>()}{};
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std::shared_ptr<Ekf> _ekf;
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void SetUp() override
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{
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_ekf->init(0);
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}
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};
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TEST_F(EkfMeasurementSamplingTest, baroDownSampling)
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{
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// Need to send imu samples to initialise
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imuSample imu_sample;
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// WHEN: baro data = {1, -1 , 1, -1, ...} being set at high rate
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int baro_rate_Hz = 10000;
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uint64_t time = 0;
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float baro_data = 1.0f;
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for(int i = 0; i < 2 * baro_rate_Hz; i++)
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{
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if(i % 100 == 0)
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{
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// send imu data at a 100 times lower rate
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imu_sample.time_us = time;
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_ekf->setIMUData(imu_sample);
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}
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const baroSample baro_sample {baro_data, time};
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_ekf->setBaroData(baro_sample);
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baro_data *= -1.0f;
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time += 1000000 / baro_rate_Hz;
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}
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_ekf->update();
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// THEN: average and buffered baro dato should be close to zero
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baroSample baro_sample_from_buffer = _ekf->get_baro_sample_delayed();
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EXPECT_NEAR(baro_sample_from_buffer.hgt, 0.0f, 0.01f);
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}
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