mirror of
https://github.com/paparazzi/paparazzi.git
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dfd8e93927
* [generator] generate unique ID and names table for modules * [state] add accessors for the state origin * [state] don't access directly to state origin, use getters * [state] filter inputs with module ID * [ahrs] convert AHRS modules to state input filter - selection of ahrs with settings from each module - init functions for each ahrs modules - remove old chimu * update unit test * [ins] decoupled INS implementation To allow multiple INS at the same time: - remove weak functions from ins.c - remove the INS_TYPE_H define - use ABI message to trigger INS reset * [state] protect for c++
89 lines
2.8 KiB
C
89 lines
2.8 KiB
C
/*
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* Copyright (C) 2014 Felix Ruess <felix.ruess@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file test_state_interface.c
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* @brief Tests for Paparazzi state interface.
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*
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* Which heavily uses the math libary.
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*
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* Using libtap to create a TAP (TestAnythingProtocol) producer:
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* https://github.com/zorgnax/libtap
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*
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*/
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#include "tap.h"
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#include "state.h"
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#include "math/pprz_geodetic_double.h"
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static void test_pos_lla_i(void)
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{
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struct LlaCoor_d lla_ref = {.lat=0.749999999392454875,
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.lon=0.019999999054505127,
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.alt=180.0};
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note("LLA reference: lat: %.10f deg, lon: %.10f deg, alt %.4f m",
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DegOfRad(lla_ref.lat), DegOfRad(lla_ref.lon), lla_ref.alt);
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struct LlaCoor_i lla_ref_i;
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LLA_BFP_OF_REAL(lla_ref_i, lla_ref);
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struct EcefCoor_d ecef_ref;
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ecef_of_lla_d(&ecef_ref, &lla_ref);
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note("ECEF reference: x: %.4f m, y: %.4f m, z: %.4f m",
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ecef_ref.x, ecef_ref.y, ecef_ref.z);
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/* calc lla_i from ecef_f */
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struct EcefCoor_f ecef_f;
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VECT3_COPY(ecef_f, ecef_ref);
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stateSetPositionEcef_f(1, &ecef_f);
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struct LlaCoor_i *lla_result;
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lla_result = stateGetPositionLla_i();
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/* compare LLA result with reference (directly convered from double) */
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int32_t lat_err = abs(lla_result->lat - lla_ref_i.lat);
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int32_t lon_err = abs(lla_result->lon - lla_ref_i.lon);
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int32_t alt_err = abs(lla_result->alt - lla_ref_i.alt);
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/* max error is 1e-6 deg in lat/lon and 10cm in alt (lla_i is in 1e7deg and mm) */
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const int32_t max_err_i = 1e-6 * 1e7; // convert to 1e7 deg
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if (lat_err < max_err_i && lon_err < max_err_i && alt_err < 100) {
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pass("stateGetPositionLla_i() from ecef_f has max error of 1e-6deg in lat/lon and 10cm in lat");
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}
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else {
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note("lat is %d, should be %d", lla_result->lat, lla_ref_i.lat);
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note("lon is %d, should be %d", lla_result->lon, lla_ref_i.lon);
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note("alt is %d, should be %d", lla_result->alt, lla_ref_i.alt);
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fail("stateGetPositionLla_i() from ecef_f exceeded error of 1e-6deg in lat/lon and 10cm in lat");
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}
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}
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int main()
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{
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note("\n *** running state interface tests ***");
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plan(1);
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stateInit();
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test_pos_lla_i();
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done_testing();
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}
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