Refactor IMU unit test
This commit is contained in:
Dan Nixon
parent
fa4517fa8b
commit
3dae29611e
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@ -92,7 +92,7 @@ static float magneticDeclination = 0.0f; // calculated at startup from con
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static imuRuntimeConfig_t imuRuntimeConfig;
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static imuRuntimeConfig_t imuRuntimeConfig;
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STATIC_UNIT_TESTED float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to earth frame
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STATIC_UNIT_TESTED float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to earth frame
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static float rMat[3][3];
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STATIC_UNIT_TESTED float rMat[3][3];
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attitudeEulerAngles_t attitude = { { 0, 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
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attitudeEulerAngles_t attitude = { { 0, 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
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@ -0,0 +1,236 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <limits.h>
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#include <cmath>
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#undef BARO
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extern "C" {
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#include "build/debug.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "config/parameter_group_ids.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/compass/compass.h"
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#include "drivers/sensor.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "fc/runtime_config.h"
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#include "fc/rc_controls.h"
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#include "rx/rx.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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void imuComputeRotationMatrix(void);
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void imuUpdateEulerAngles(void);
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extern float q0, q1, q2, q3;
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extern float rMat[3][3];
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PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
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PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0);
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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const float sqrt2over2 = sqrt(2) / 2.0f;
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TEST(FlightImuTest, TestCalculateRotationMatrix)
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{
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#define TOL 1e-6
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// No rotation
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q0 = 1.0f;
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q1 = 0.0f;
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q2 = 0.0f;
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q3 = 0.0f;
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imuComputeRotationMatrix();
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EXPECT_FLOAT_EQ(1.0f, rMat[0][0]);
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EXPECT_FLOAT_EQ(0.0f, rMat[0][1]);
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EXPECT_FLOAT_EQ(0.0f, rMat[0][2]);
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EXPECT_FLOAT_EQ(0.0f, rMat[1][0]);
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EXPECT_FLOAT_EQ(1.0f, rMat[1][1]);
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EXPECT_FLOAT_EQ(0.0f, rMat[1][2]);
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EXPECT_FLOAT_EQ(0.0f, rMat[2][0]);
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EXPECT_FLOAT_EQ(0.0f, rMat[2][1]);
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EXPECT_FLOAT_EQ(1.0f, rMat[2][2]);
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// 90 degrees around Z axis
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q0 = sqrt2over2;
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q1 = 0.0f;
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q2 = 0.0f;
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q3 = sqrt2over2;
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imuComputeRotationMatrix();
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EXPECT_NEAR(0.0f, rMat[0][0], TOL);
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EXPECT_NEAR(-1.0f, rMat[0][1], TOL);
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EXPECT_NEAR(0.0f, rMat[0][2], TOL);
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EXPECT_NEAR(1.0f, rMat[1][0], TOL);
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EXPECT_NEAR(0.0f, rMat[1][1], TOL);
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EXPECT_NEAR(0.0f, rMat[1][2], TOL);
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EXPECT_NEAR(0.0f, rMat[2][0], TOL);
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EXPECT_NEAR(0.0f, rMat[2][1], TOL);
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EXPECT_NEAR(1.0f, rMat[2][2], TOL);
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// 60 degrees around X axis
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q0 = 0.866f;
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q1 = 0.5f;
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q2 = 0.0f;
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q3 = 0.0f;
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imuComputeRotationMatrix();
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EXPECT_NEAR(1.0f, rMat[0][0], TOL);
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EXPECT_NEAR(0.0f, rMat[0][1], TOL);
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EXPECT_NEAR(0.0f, rMat[0][2], TOL);
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EXPECT_NEAR(0.0f, rMat[1][0], TOL);
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EXPECT_NEAR(0.5f, rMat[1][1], TOL);
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EXPECT_NEAR(-0.866f, rMat[1][2], TOL);
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EXPECT_NEAR(0.0f, rMat[2][0], TOL);
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EXPECT_NEAR(0.866f, rMat[2][1], TOL);
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EXPECT_NEAR(0.5f, rMat[2][2], TOL);
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}
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TEST(FlightImuTest, TestUpdateEulerAngles)
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{
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// No rotation
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memset(rMat, 0.0, sizeof(float) * 9);
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imuUpdateEulerAngles();
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EXPECT_EQ(0, attitude.values.roll);
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EXPECT_EQ(0, attitude.values.pitch);
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EXPECT_EQ(0, attitude.values.yaw);
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// 45 degree yaw
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memset(rMat, 0.0, sizeof(float) * 9);
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rMat[0][0] = sqrt2over2;
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rMat[0][1] = sqrt2over2;
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rMat[1][0] = -sqrt2over2;
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rMat[1][1] = sqrt2over2;
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imuUpdateEulerAngles();
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EXPECT_EQ(0, attitude.values.roll);
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EXPECT_EQ(0, attitude.values.pitch);
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EXPECT_EQ(450, attitude.values.yaw);
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}
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TEST(FlightImuTest, TestSmallAngle)
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{
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const float r1 = 0.898;
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const float r2 = 0.438;
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// given
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imuConfigMutable()->small_angle = 25;
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// and
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memset(rMat, 0.0, sizeof(float) * 9);
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// when
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imuUpdateEulerAngles();
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// expect
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EXPECT_EQ(0, STATE(SMALL_ANGLE));
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// given
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rMat[0][0] = r1;
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rMat[0][2] = r2;
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rMat[2][0] = -r2;
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rMat[2][2] = r1;
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// when
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imuUpdateEulerAngles();
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// expect
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EXPECT_EQ(SMALL_ANGLE, STATE(SMALL_ANGLE));
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// given
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memset(rMat, 0.0, sizeof(float) * 9);
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// when
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imuUpdateEulerAngles();
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// expect
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EXPECT_EQ(0, STATE(SMALL_ANGLE));
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}
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// STUBS
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extern "C" {
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uint32_t rcModeActivationMask;
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float rcCommand[4];
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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gyro_t gyro;
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acc_t acc;
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mag_t mag;
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uint8_t GPS_numSat;
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uint16_t GPS_speed;
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uint16_t GPS_ground_course;
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uint8_t debugMode;
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int16_t debug[DEBUG16_VALUE_COUNT];
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uint8_t stateFlags;
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uint16_t flightModeFlags;
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uint8_t armingFlags;
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pidProfile_t *currentPidProfile;
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uint16_t enableFlightMode(flightModeFlags_e mask)
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{
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return flightModeFlags |= (mask);
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}
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uint16_t disableFlightMode(flightModeFlags_e mask)
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{
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return flightModeFlags &= ~(mask);
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}
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bool sensors(uint32_t mask)
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{
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UNUSED(mask);
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return false;
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};
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uint32_t millis(void) { return 0; }
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uint32_t micros(void) { return 0; }
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bool isBaroCalibrationComplete(void) { return true; }
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void performBaroCalibrationCycle(void) {}
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int32_t baroCalculateAltitude(void) { return 0; }
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}
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@ -1,123 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <limits.h>
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#define BARO
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extern "C" {
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#include "build/debug.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "sensors/sensors.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "fc/runtime_config.h"
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#include "rx/rx.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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#define DOWNWARDS_THRUST true
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#define UPWARDS_THRUST false
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TEST(FlightImuTest, TestCalculateHeading)
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{
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//TODO: Add test cases using the Z dimension.
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t_fp_vector north = {.A={1.0f, 0.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&north), 0);
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t_fp_vector east = {.A={0.0f, 1.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&east), 90);
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t_fp_vector south = {.A={-1.0f, 0.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&south), 180);
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t_fp_vector west = {.A={0.0f, -1.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&west), 270);
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t_fp_vector north_east = {.A={1.0f, 1.0f, 0.0f}};
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EXPECT_EQ(imuCalculateHeading(&north_east), 45);
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}
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// STUBS
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extern "C" {
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uint32_t rcModeActivationMask;
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float rcCommand[4];
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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acc_t acc;
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int16_t heading;
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gyro_t gyro;
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int32_t magADC[XYZ_AXIS_COUNT];
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int32_t BaroAlt;
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int16_t debug[DEBUG16_VALUE_COUNT];
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uint8_t stateFlags;
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uint16_t flightModeFlags;
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uint8_t armingFlags;
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int32_t sonarAlt;
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int16_t accADC[XYZ_AXIS_COUNT];
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int32_t gyroADC[XYZ_AXIS_COUNT];
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uint16_t enableFlightMode(flightModeFlags_e mask)
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{
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return flightModeFlags |= (mask);
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}
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uint16_t disableFlightMode(flightModeFlags_e mask)
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{
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return flightModeFlags &= ~(mask);
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}
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void gyroUpdate(void) {};
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bool sensors(uint32_t mask)
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{
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UNUSED(mask);
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return false;
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};
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void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
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{
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UNUSED(rollAndPitchTrims);
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}
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uint32_t micros(void) { return 0; }
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bool isBaroCalibrationComplete(void) { return true; }
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void performBaroCalibrationCycle(void) {}
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int32_t baroCalculateAltitude(void) { return 0; }
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}
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