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annotate src/Tests/compass_trigo_test.cpp @ 324:0e9dcdcf03c1

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FIX NDL prediction error with Buhlmann model: might be desaturating too fast.
author jdg@air
date Sat, 13 Jun 2015 02:28:37 +0200
parents 7d9edd3b8c86
children
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1 //////////////////////////////////////////////////////////////////////////////
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2 /// compass_trigo_test.cpp
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3 /// Unit test for compass various operations.
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4 /// Copyright (c) 2012-2015, JD Gascuel, HeinrichsWeikamp, all right reserved.
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5 //////////////////////////////////////////////////////////////////////////////
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6 // HISTORY
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7 // 2015-05-23 jDG: Rewrite compass testing, to allow reducing code size.
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8
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9 extern "C" {
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10 # include "compass.h"
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11 }
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12
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13 #include <gtest/gtest.h>
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14
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15 //////////////////////////////////////////////////////////////////////////////
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16 // Fake assembleur fixed point multiplies.
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17 extern "C" Int16 compass_umul(void);
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18 extern "C" Int16 compass_imul(void);
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19 extern "C" Int16 compass_a, compass_b;
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20
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21 // The (filtered) components of the magnetometer sensor:
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22 Int16 compass_DX_f;
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23 Int16 compass_DY_f;
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24 Int16 compass_DZ_f;
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25
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26 // Found soft-iron calibration values, deduced from already filtered values.
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27 Int16 compass_CX_f;
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28 Int16 compass_CY_f;
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29 Int16 compass_CZ_f;
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30
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31 // The (filtered) components of the accelerometer sensor:
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32 Int16 accel_DX_f;
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33 Int16 accel_DY_f;
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34 Int16 accel_DZ_f;
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35
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36 // The compass result value.
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37 Int16 compass_heading;
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38 Int16 compass_roll;
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39 Int16 compass_pitch;
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40
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41 Int16 compass_a, compass_b;
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42 Int16 compass_umul()
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43 {
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44 unsigned int a = compass_a;
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45 unsigned int b = compass_b;
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46 a *= b;
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47 a >>= 15;
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48 return (Int16)a;
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49 }
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50
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51 Int16 compass_imul()
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52 {
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53 int a = compass_a;
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54 int b = compass_b;
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55 a *= b;
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56 a >>= 15;
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57 return (Int16)a;
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58 }
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59
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60 //////////////////////////////////////////////////////////////////////////////
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61
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62 TEST(ops, multiply) {
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63 // Check basic sign handling:
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64 EXPECT_EQ(umul( 8000, 4000), (Int16)0x03D0); // 8000/2**15 * 4000/2**15 = 0x3D0
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65 EXPECT_EQ(imul(-8000, 4000), (Int16)0xFC2F); // -976 = 0xFC2F
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66 EXPECT_EQ(imul( 8000, -4000), (Int16)0xFC2F); // -976 = 0xFC2F
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67 EXPECT_EQ(imul(-8000, -4000), (Int16)0x03D0); // +976 = 0x3D0
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68 }
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69
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70 TEST(ops, divide) {
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71 // Check basic divides:
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72 EXPECT_EQ(udiv(32000, 32001), (Int16)32766); // 0.99997 ~ 32766
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73 EXPECT_EQ(udiv( 4000, 8000), (Int16)16384);
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74 EXPECT_EQ(udiv( 2000, 8000), (Int16) 8192);
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75 EXPECT_EQ(udiv( 1000, 8000), (Int16) 4096);
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76 EXPECT_EQ(udiv( 500, 8000), (Int16) 2048);
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77 }
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78
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79 TEST(trigo, atan) {
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80 // Check angles returned by the SINGLE QUADRANT atan() function:
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81 EXPECT_EQ(utan(100, 100), (Int16)4501); // +1
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82 EXPECT_EQ(utan( 90, 100), (Int16)4195); // -4
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83 EXPECT_EQ(utan( 80, 100), (Int16)3864); // -2
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84 EXPECT_EQ(utan( 70, 100), (Int16)3500); // +1
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85 EXPECT_EQ(utan( 60, 100), (Int16)3099); // +3
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86 EXPECT_EQ(utan( 50, 100), (Int16)2658); // +1
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87 EXPECT_EQ(utan( 40, 100), (Int16)2179); // -1
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88 EXPECT_EQ(utan( 30, 100), (Int16)1667); // -3
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89 EXPECT_EQ(utan( 20, 100), (Int16)1127); // -4
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90 EXPECT_EQ(utan( 10, 100), (Int16) 569); // -2
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91 EXPECT_EQ(utan( 0, 100), (Int16) 0);
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92 }
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93
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94 TEST(trigo, cosx2h2) {
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95 // Check ONE-OCTANT pseudo-cosinus function
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96 // Note: cosxh(x**2, x**2+y**2) is computing cos(atan(y/x))
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97 EXPECT_EQ(cosxh(12769, 13169), (Int16)32268); // 113, 20 --> 10.0369° --> 32267 +1
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98 EXPECT_EQ(cosxh(10000, 12500), (Int16)29310); // 100, 50 --> 26.5650° --> 29309 +1
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99 EXPECT_EQ(cosxh(10000, 20000), (Int16)23171); // 100, 100 --> 45.0000° --> 23170 +1
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100 EXPECT_EQ(cosxh( 2500, 12500), (Int16)14658); // 50, 100 --> 63.4349° --> 14654 +4
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101 EXPECT_EQ(cosxh( 400, 13169), (Int16) 5718); // 20, 113 --> 79.9631° --> 5711 +7
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102 }
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103
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104 TEST(trigo, sinCos) {
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105 Int16 sin, cos;
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106
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107 //---- Check sincos() FIRST QUADRANT ---------------------------------
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108 sincos( 20, 113, &sin, &cos); // 80°
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109 EXPECT_EQ(sin, (Int16)32269); // +2
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110 EXPECT_EQ(cos, (Int16) 5727); // +16
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111
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112 sincos( 50, 100, &sin, &cos); // 63°
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113 EXPECT_EQ(sin, (Int16)29311); // +2
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114 EXPECT_EQ(cos, (Int16)14660); // +6
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115
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116 sincos(100, 100, &sin, &cos); // 45°
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117 EXPECT_EQ(sin, (Int16)23173); // +3
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118 EXPECT_EQ(cos, (Int16)23173); // +3
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119
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120 sincos(100, 50, &sin, &cos); // 27°
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121 EXPECT_EQ(sin, (Int16)14660); // +6
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122 EXPECT_EQ(cos, (Int16)29311); // +2
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123
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124 sincos(113, 20, &sin, &cos); // 10°
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125 EXPECT_EQ(sin, (Int16) 5727); // +16
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126 EXPECT_EQ(cos, (Int16)32269); // +2
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127
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128 //---- Check sincos() OTHER QUADRANTS --------------------------------
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129 sincos(-20, 113, &sin, &cos); // 90+80°
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130 EXPECT_EQ(sin, (Int16) 32269); // +2
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131 EXPECT_EQ(cos, (Int16) -5727); // +16
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132
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133 sincos(-20,-113, &sin, &cos); // 180+80°
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134 EXPECT_EQ(sin, (Int16)-32269); // +2
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135 EXPECT_EQ(cos, (Int16) -5727); // +16
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136
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137 sincos( 20,-113, &sin, &cos); // 270+80°
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138 EXPECT_EQ(sin, (Int16)-32269); // +2
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139 EXPECT_EQ(cos, (Int16) 5727); // +16
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140 }