mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-10 22:59:38 +08:00
Mathieu Bresciani
549fb0d5de
* ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering * ekf2: use InnovLpf filter class in preflight checks * ekf2: move selection of yaw test limit for pre-flight check in function * ekf2: Move pre-flight checks into separate function * ekf2: use static constexpr insetead of inline for sq (square) function * ekf2: Split pre-flight checks in separate functions Also use the same check for all the innovations: innov_lpf < test and innov < 2xtest * ekf2: Add optical flow pre-flight check * ekf2: Combine FirstOrderLpf and InnovationLpf in single class * ekf2: check vel_pos_innov when ev_pos is active as well * ekf2: transform InnovationLpf into a header only library and pass the spike limit during the update call to avoid storing it here * ekf2: Static and const cleanup - set spike_lim constants as static constexpr, set innovation - set checker helper functions as static - rename the mix of heading and yaw as heading to avoid confusion * ekf2: use ternary operator in selectHeadingTestLimit instead of if-else * ekf2: store intermediate redults in const bool flags. Those will be used for logging * ekf2: set variable const whenever possible * ekf2: create PreFlightChecker class that handle all the innovation pre-flight checks. Add simple unit testing Use bitmask instead of general flag to have more granularity * PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function This makes it more scalable as more checks will be added * ekf: Use booleans instead of bitmask for ekf preflt checks Rename "down" to "vert"
109 lines
4.2 KiB
C++
109 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2019 PX4 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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/**
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* Test code for PreFlightChecker class
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* Run this test only using make tests TESTFILTER=PreFlightChecker
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*/
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#include <gtest/gtest.h>
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#include "PreFlightChecker.hpp"
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class PreFlightCheckerTest : public ::testing::Test
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{
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};
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TEST_F(PreFlightCheckerTest, testInnovFailed)
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{
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const float test_limit = 1.0; ///< is the limit for innovation_lpf, the limit for innovation is 2*test_limit
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const float innovations[9] = {0.0, 1.5, 2.5, -1.5, -2.5, 1.5, -1.5, -2.5, -2.5};
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const float innovations_lpf[9] = {0.0, 0.9, 0.9, -0.9, -0.9, 1.1, -1.1, -1.1, 1.1};
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const bool expected_result[9] = {false, false, true, false, true, true, true, true, true};
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for (int i = 0; i < 9; i++) {
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EXPECT_EQ(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], test_limit), expected_result[i]);
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}
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// Smaller test limit, all the checks should fail except the first
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EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations[0], innovations_lpf[0], 0.0));
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for (int i = 1; i < 9; i++) {
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EXPECT_TRUE(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], 0.0));
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}
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// Larger test limit, none of the checks should fail
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for (int i = 0; i < 9; i++) {
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EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], 2.0));
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}
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}
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TEST_F(PreFlightCheckerTest, testInnov2dFailed)
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{
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const float test_limit = 1.0;
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Vector2f innovations[4] = {{0.0, 0.0}, {0.0, 0.0}, {0.0, -2.5}, {1.5, -1.5}};
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Vector2f innovations_lpf[4] = {{0.0, 0.0}, {1.1, 0.0}, {0.5, 0.5}, {1.0, -1.0}};
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const bool expected_result[4] = {false, true, true, true};
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for (int i = 0; i < 4; i++) {
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EXPECT_EQ(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], test_limit), expected_result[i]);
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}
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// Smaller test limit, all the checks should fail except the first
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EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[0], innovations_lpf[0], 0.0));
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for (int i = 1; i < 4; i++) {
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EXPECT_TRUE(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], 0.0));
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}
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// Larger test limit, none of the checks should fail
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for (int i = 0; i < 4; i++) {
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EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], 1.42));
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}
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}
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TEST_F(PreFlightCheckerTest, testBitMask)
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{
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PreFlightChecker preflt_checker;
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const bool heading_failed = true;
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const bool horiz_vel_failed = true;
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const bool down_vel_failed = false;
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const bool height_failed = true;
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int bitmask = PreFlightChecker::prefltFailBoolToBitMask(heading_failed, horiz_vel_failed, down_vel_failed,
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height_failed);
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EXPECT_EQ(bitmask, 0b1011);
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}
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