0,0 → 1,205 |
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
// |
// Unit tests for the AP_Math rotations code |
// |
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#include <FastSerial.h> |
#include <AP_Common.h> |
#include <AP_Math.h> |
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FastSerialPort(Serial, 0); |
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#ifdef DESKTOP_BUILD |
// all of this is needed to build with SITL |
#include <DataFlash.h> |
#include <APM_RC.h> |
#include <GCS_MAVLink.h> |
#include <Arduino_Mega_ISR_Registry.h> |
#include <AP_PeriodicProcess.h> |
#include <AP_ADC.h> |
#include <AP_Baro.h> |
#include <AP_Compass.h> |
#include <AP_GPS.h> |
Arduino_Mega_ISR_Registry isr_registry; |
AP_Baro_BMP085_HIL barometer; |
AP_Compass_HIL compass; |
#endif |
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library |
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// standard rotation matrices (these are the originals from the old code) |
#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1) |
#define MATRIX_ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1) |
#define MATRIX_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1) |
#define MATRIX_ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1) |
#define MATRIX_ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1) |
#define MATRIX_ROTATION_YAW_225 Matrix3f(-0.70710678, 0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, 1) |
#define MATRIX_ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1) |
#define MATRIX_ROTATION_YAW_315 Matrix3f(0.70710678, 0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, 1) |
#define MATRIX_ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1) |
#define MATRIX_ROTATION_ROLL_180_YAW_45 Matrix3f(0.70710678, 0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, -1) |
#define MATRIX_ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1) |
#define MATRIX_ROTATION_ROLL_180_YAW_135 Matrix3f(-0.70710678, 0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, -1) |
#define MATRIX_ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1) |
#define MATRIX_ROTATION_ROLL_180_YAW_225 Matrix3f(-0.70710678, -0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, -1) |
#define MATRIX_ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1) |
#define MATRIX_ROTATION_ROLL_180_YAW_315 Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1) |
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static void print_matrix(Matrix3f &m) |
{ |
Serial.printf("[%.2f %.2f %.2f] [%.2f %.2f %.2f] [%.2f %.2f %.2f]\n", |
m.a.x, m.a.y, m.a.z, |
m.b.x, m.b.y, m.b.z, |
m.c.x, m.c.y, m.c.z); |
} |
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// test one matrix |
static void test_matrix(enum Rotation rotation, Matrix3f m) |
{ |
Matrix3f m2, diff; |
const float accuracy = 1.0e-6; |
m2.rotation(rotation); |
diff = (m - m2); |
if (diff.a.length() > accuracy || |
diff.b.length() > accuracy || |
diff.c.length() > accuracy) { |
Serial.printf("rotation matrix %u incorrect\n", (unsigned)rotation); |
print_matrix(m); |
print_matrix(m2); |
} |
} |
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// test generation of rotation matrices |
static void test_matrices(void) |
{ |
Serial.println("testing rotation matrices\n"); |
test_matrix(ROTATION_NONE, MATRIX_ROTATION_NONE); |
test_matrix(ROTATION_YAW_45, MATRIX_ROTATION_YAW_45); |
test_matrix(ROTATION_YAW_90, MATRIX_ROTATION_YAW_90); |
test_matrix(ROTATION_YAW_135, MATRIX_ROTATION_YAW_135); |
test_matrix(ROTATION_YAW_180, MATRIX_ROTATION_YAW_180); |
test_matrix(ROTATION_YAW_225, MATRIX_ROTATION_YAW_225); |
test_matrix(ROTATION_YAW_270, MATRIX_ROTATION_YAW_270); |
test_matrix(ROTATION_YAW_315, MATRIX_ROTATION_YAW_315); |
test_matrix(ROTATION_ROLL_180, MATRIX_ROTATION_ROLL_180); |
test_matrix(ROTATION_ROLL_180_YAW_45, MATRIX_ROTATION_ROLL_180_YAW_45); |
test_matrix(ROTATION_ROLL_180_YAW_90, MATRIX_ROTATION_ROLL_180_YAW_90); |
test_matrix(ROTATION_ROLL_180_YAW_135, MATRIX_ROTATION_ROLL_180_YAW_135); |
test_matrix(ROTATION_PITCH_180, MATRIX_ROTATION_PITCH_180); |
test_matrix(ROTATION_ROLL_180_YAW_225, MATRIX_ROTATION_ROLL_180_YAW_225); |
test_matrix(ROTATION_ROLL_180_YAW_270, MATRIX_ROTATION_ROLL_180_YAW_270); |
test_matrix(ROTATION_ROLL_180_YAW_315, MATRIX_ROTATION_ROLL_180_YAW_315); |
} |
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// test rotation of vectors |
static void test_vector(enum Rotation rotation, Vector3f v1, bool show=true) |
{ |
Vector3f v2, diff; |
Matrix3f m; |
v2 = v1; |
m.rotation(rotation); |
v1.rotate(rotation); |
v2 = m * v2; |
diff = v1 - v2; |
if (diff.length() > 1.0e-6) { |
Serial.printf("rotation vector %u incorrect\n", (unsigned)rotation); |
Serial.printf("%u %f %f %f\n", |
(unsigned)rotation, |
v2.x, v2.y, v2.z); |
} |
if (show) { |
Serial.printf("%u %f %f %f\n", |
(unsigned)rotation, |
v1.x, v1.y, v1.z); |
} |
} |
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// generate a random float between -1 and 1 |
static float rand_num(void) |
{ |
float ret = ((unsigned)random()) % 2000000; |
return (ret - 1.0e6) / 1.0e6; |
} |
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// test rotation of vectors |
static void test_vector(enum Rotation rotation) |
{ |
uint8_t i; |
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Vector3f v1; |
v1.x = 1; |
v1.y = 2; |
v1.z = 3; |
test_vector(rotation, v1); |
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for (i=0; i<10; i++) { |
v1.x = rand_num(); |
v1.y = rand_num(); |
v1.z = rand_num(); |
test_vector(rotation, v1, false); |
} |
} |
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// test rotation of vectors |
static void test_vectors(void) |
{ |
Serial.println("testing rotation of vectors\n"); |
test_vector(ROTATION_NONE); |
test_vector(ROTATION_YAW_45); |
test_vector(ROTATION_YAW_90); |
test_vector(ROTATION_YAW_135); |
test_vector(ROTATION_YAW_180); |
test_vector(ROTATION_YAW_225); |
test_vector(ROTATION_YAW_270); |
test_vector(ROTATION_YAW_315); |
test_vector(ROTATION_ROLL_180); |
test_vector(ROTATION_ROLL_180_YAW_45); |
test_vector(ROTATION_ROLL_180_YAW_90); |
test_vector(ROTATION_ROLL_180_YAW_135); |
test_vector(ROTATION_PITCH_180); |
test_vector(ROTATION_ROLL_180_YAW_225); |
test_vector(ROTATION_ROLL_180_YAW_270); |
test_vector(ROTATION_ROLL_180_YAW_315); |
} |
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// test combinations of rotations |
static void test_combinations(void) |
{ |
enum Rotation r1, r2, r3; |
bool found; |
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for (r1=ROTATION_NONE; r1<ROTATION_MAX; |
r1 = (enum Rotation)((uint8_t)r1+1)) { |
for (r2=ROTATION_NONE; r2<ROTATION_MAX; |
r2 = (enum Rotation)((uint8_t)r2+1)) { |
r3 = rotation_combination(r1, r2, &found); |
if (found) { |
Serial.printf("rotation: %u + %u -> %u\n", |
(unsigned)r1, (unsigned)r2, (unsigned)r3); |
} else { |
Serial.printf("ERROR rotation: no combination for %u + %u\n", |
(unsigned)r1, (unsigned)r2); |
} |
} |
} |
} |
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/* |
rotation tests |
*/ |
void setup(void) |
{ |
Serial.begin(115200); |
Serial.println("rotation unit tests\n"); |
test_matrices(); |
test_vectors(); |
test_combinations(); |
Serial.println("rotation unit tests done\n"); |
} |
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void |
loop(void) |
{ |
} |