From 58b4bc754bbb9f5197119cd0c124e49c05acff46 Mon Sep 17 00:00:00 2001 From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com> Date: Thu, 13 Jun 2024 14:30:58 -0400 Subject: Where to begin…. (#13) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit +/- Reworked collection of altimeter related functions into altimeter class +/- Reworked bno055 class to be imu class with minimal functionality \- Removed external Kalman filter implementations in favor of own in house version \- Removed any/unused files \+ Added buffer logger for when sitting on pad for extended period of time in effort to prevent filling of flash chip \+ Added heartbeat LED for alive status --- test/kalmanFilterTest.cpp | 101 ---------------------------------------------- 1 file changed, 101 deletions(-) delete mode 100644 test/kalmanFilterTest.cpp (limited to 'test/kalmanFilterTest.cpp') diff --git a/test/kalmanFilterTest.cpp b/test/kalmanFilterTest.cpp deleted file mode 100644 index bb0acda..0000000 --- a/test/kalmanFilterTest.cpp +++ /dev/null @@ -1,101 +0,0 @@ -#include -#include -#include -#include "../include/kalmanfilter.hpp" - -using namespace Eigen; - -class KalmanFilterTest : public ::testing::Test { - - protected: - - KalmanFilterTest() { - - kf = new KalmanFilter(2, 1, 1, 1); - } - - //~KalmanFilterTest() {} - - KalmanFilter *kf; -}; - - -/** - * @brief Test Setting the initial state x & P - * - * **/ -TEST_F(KalmanFilterTest, setInitialState) { - - VectorXf state_vec(2); - MatrixXf state_cov(2, 2); - state_vec << 1, 2; - state_cov << 1, 3, 4, 9; - - // Success Case - EXPECT_TRUE(kf->setInitialState(state_vec, state_cov)); - - // Failure Case - VectorXf state_vec2(4); - state_vec2 << 1, 2, 3, 4; - EXPECT_FALSE(kf->setInitialState(state_vec2, state_cov)); -} - -/** - * @brief Test a single iteration of the Kalman Filter - * - * **/ -TEST_F(KalmanFilterTest, run) { - - VectorXf control(1); - VectorXf measurement(1); - control << 1; - measurement << 1; - VectorXf res(1); - - res = kf->run(control, measurement, 1); - - EXPECT_NEAR(0.5454, res(0), 0.0001); - EXPECT_NEAR(1, res(1), 0.0001); -} - - -/** - * @brief Test run() when the time step value is changed between function calls. - * - */ -TEST_F(KalmanFilterTest, runChange) { - - VectorXf control(1); - VectorXf measurement(1); - control << 1; - measurement << 1; - VectorXf res(1); - - res = kf->run(control, measurement, 0.1); - EXPECT_NEAR(0.09545, res(0), 0.00001); - EXPECT_NEAR(0.1, res(1), 0.1); - - res = kf->run(control, measurement, 0.15); - EXPECT_NEAR(0.2761, res(0), 0.0001); - EXPECT_NEAR(0.3585, res(1), 0.0001); -} - - - - - - - - - - - - - - - - - - - - -- cgit v1.2.3