Merge branch 'drtunes-issue_8_sensors_align'
This commit is contained in:
Dominic Clifton
commit
7fe674a57d
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@ -44,9 +44,9 @@ void initBoardAlignment(boardAlignment_t *boardAlignment)
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standardBoardAlignment = false;
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fp_angles_t rotationAngles;
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rotationAngles.angles.roll = degreesToRadians(boardAlignment->rollDegrees);
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rotationAngles.angles.roll = degreesToRadians(boardAlignment->rollDegrees );
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rotationAngles.angles.pitch = degreesToRadians(boardAlignment->pitchDegrees);
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rotationAngles.angles.yaw = degreesToRadians(boardAlignment->yawDegrees);
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rotationAngles.angles.yaw = degreesToRadians(boardAlignment->yawDegrees );
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buildRotationMatrix(&rotationAngles, boardRotation);
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}
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@ -512,6 +512,30 @@ $(OBJECT_DIR)/baro_bmp085_unittest : \
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$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
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$(OBJECT_DIR)/sensors/boardalignment.o : \
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$(USER_DIR)/sensors/boardalignment.c \
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$(USER_DIR)/sensors/boardalignment.h \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/boardalignment.c -o $@
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$(OBJECT_DIR)/alignsensor_unittest.o : \
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$(TEST_DIR)/alignsensor_unittest.cc \
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$(USER_DIR)/sensors/boardalignment.h \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/alignsensor_unittest.cc -o $@
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$(OBJECT_DIR)/alignsensor_unittest : \
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$(OBJECT_DIR)/common/maths.o \
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$(OBJECT_DIR)/sensors/boardalignment.o \
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$(OBJECT_DIR)/alignsensor_unittest.o \
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$(OBJECT_DIR)/gtest_main.a
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$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
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test: $(TESTS:%=test-%)
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test-%: $(OBJECT_DIR)/%
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@ -0,0 +1,269 @@
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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 "math.h"
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#include "stdint.h"
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#include "time.h"
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extern "C" {
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#include "common/axis.h"
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#include "sensors/boardalignment.h"
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#include "sensors/sensors.h"
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}
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#include "gtest/gtest.h"
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/*
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* This test file contains an independent method of rotating a vector.
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* The output of alignSensor() is compared to the output of the test
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* rotation method.
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*
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* For each alignment condition (CW0, CW90, etc) the source vector under
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* test is set to a unit vector along each axis (x-axis, y-axis, z-axis)
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* plus one additional random vector is tested.
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*/
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#define DEG2RAD 0.01745329251
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static void rotateVector(int16_t mat[3][3], int16_t vec[3], int16_t *out)
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{
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int16_t tmp[3];
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for(int i=0; i<3; i++) {
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tmp[i] = 0;
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for(int j=0; j<3; j++) {
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tmp[i] += mat[j][i] * vec[j];
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}
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}
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out[0]=tmp[0];
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out[1]=tmp[1];
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out[2]=tmp[2];
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}
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//static void initXAxisRotation(int16_t mat[][3], int16_t angle)
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//{
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// mat[0][0] = 1;
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// mat[0][1] = 0;
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// mat[0][2] = 0;
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// mat[1][0] = 0;
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// mat[1][1] = cos(angle*DEG2RAD);
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// mat[1][2] = -sin(angle*DEG2RAD);
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// mat[2][0] = 0;
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// mat[2][1] = sin(angle*DEG2RAD);
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// mat[2][2] = cos(angle*DEG2RAD);
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//}
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static void initYAxisRotation(int16_t mat[][3], int16_t angle)
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{
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mat[0][0] = cos(angle*DEG2RAD);
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mat[0][1] = 0;
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mat[0][2] = sin(angle*DEG2RAD);
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mat[1][0] = 0;
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mat[1][1] = 1;
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mat[1][2] = 0;
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mat[2][0] = -sin(angle*DEG2RAD);
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mat[2][1] = 0;
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mat[2][2] = cos(angle*DEG2RAD);
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}
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static void initZAxisRotation(int16_t mat[][3], int16_t angle)
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{
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mat[0][0] = cos(angle*DEG2RAD);
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mat[0][1] = -sin(angle*DEG2RAD);
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mat[0][2] = 0;
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mat[1][0] = sin(angle*DEG2RAD);
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mat[1][1] = cos(angle*DEG2RAD);
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mat[1][2] = 0;
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mat[2][0] = 0;
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mat[2][1] = 0;
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mat[2][2] = 1;
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}
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static void testCW(sensor_align_e rotation, int16_t angle)
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{
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int16_t src[XYZ_AXIS_COUNT];
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int16_t dest[XYZ_AXIS_COUNT];
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int16_t test[XYZ_AXIS_COUNT];
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// unit vector along x-axis
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src[X] = 1;
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src[Y] = 0;
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src[Z] = 0;
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int16_t matrix[3][3];
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, src, test);
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alignSensors(src, dest, rotation);
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EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
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EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
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EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
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// unit vector along y-axis
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src[X] = 0;
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src[Y] = 1;
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src[Z] = 0;
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rotateVector(matrix, src, test);
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alignSensors(src, dest, rotation);
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EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
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EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
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EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
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// unit vector along z-axis
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src[X] = 0;
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src[Y] = 0;
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src[Z] = 1;
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rotateVector(matrix, src, test);
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alignSensors(src, dest, rotation);
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EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
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EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
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EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
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// random vector to test
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src[X] = rand() % 5;
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src[Y] = rand() % 5;
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src[Z] = rand() % 5;
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rotateVector(matrix, src, test);
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alignSensors(src, dest, rotation);
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EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
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EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
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EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
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}
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/*
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* Since the order of flip and rotation matters, these tests make the
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* assumption that the 'flip' occurs first, followed by clockwise rotation
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*/
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static void testCWFlip(sensor_align_e rotation, int16_t angle)
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{
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int16_t src[XYZ_AXIS_COUNT];
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int16_t dest[XYZ_AXIS_COUNT];
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int16_t test[XYZ_AXIS_COUNT];
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// unit vector along x-axis
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src[X] = 1;
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src[Y] = 0;
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src[Z] = 0;
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int16_t matrix[3][3];
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initYAxisRotation(matrix, 180);
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rotateVector(matrix, src, test);
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, test, test);
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alignSensors(src, dest, rotation);
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EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
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EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
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EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
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// unit vector along y-axis
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src[X] = 0;
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src[Y] = 1;
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src[Z] = 0;
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initYAxisRotation(matrix, 180);
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rotateVector(matrix, src, test);
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, test, test);
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alignSensors(src, dest, rotation);
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EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
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EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
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EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
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// unit vector along z-axis
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src[X] = 0;
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src[Y] = 0;
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src[Z] = 1;
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initYAxisRotation(matrix, 180);
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rotateVector(matrix, src, test);
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, test, test);
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alignSensors(src, dest, rotation);
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EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
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EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
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EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
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// random vector to test
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src[X] = rand() % 5;
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src[Y] = rand() % 5;
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src[Z] = rand() % 5;
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initYAxisRotation(matrix, 180);
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rotateVector(matrix, src, test);
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, test, test);
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alignSensors(src, dest, rotation);
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EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
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EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
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EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
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}
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TEST(AlignSensorTest, ClockwiseZeroDegrees)
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{
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srand(time(NULL));
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testCW(CW0_DEG, 0);
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}
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TEST(AlignSensorTest, ClockwiseNinetyDegrees)
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{
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testCW(CW90_DEG, 90);
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}
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TEST(AlignSensorTest, ClockwiseOneEightyDegrees)
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{
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testCW(CW180_DEG, 180);
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}
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TEST(AlignSensorTest, ClockwiseTwoSeventyDegrees)
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{
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testCW(CW270_DEG, 270);
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}
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TEST(AlignSensorTest, ClockwiseZeroDegreesFlip)
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{
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testCWFlip(CW0_DEG_FLIP, 0);
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}
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TEST(AlignSensorTest, ClockwiseNinetyDegreesFlip)
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{
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testCWFlip(CW90_DEG_FLIP, 90);
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}
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TEST(AlignSensorTest, ClockwiseOneEightyDegreesFlip)
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{
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testCWFlip(CW180_DEG_FLIP, 180);
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}
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TEST(AlignSensorTest, ClockwiseTwoSeventyDegreesFlip)
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{
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testCWFlip(CW270_DEG_FLIP, 270);
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}
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