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view src/Tests/compass_test.cpp @ 582:b455b31ce022
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author | heinrichsweikamp |
---|---|
date | Mon, 26 Feb 2018 16:40:28 +0100 (2018-02-26) |
parents | cd2320cd6f9a |
children |
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////////////////////////////////////////////////////////////////////////////// /// compass_test.cpp /// Unit test for compass calibration. /// Copyright (c) 2012-2015, JD Gascuel, HeinrichsWeikamp, all right reserved. ////////////////////////////////////////////////////////////////////////////// // HISTORY // 2015-05-23 jDG: Rewrite compass testing, to allow reducing code size. extern "C" { # include "compass.h" } #include <gtest/gtest.h> #include <math.h> #include <iostream> ////////////////////////////////////////////////////////////////////////////// inline float uniform() { return (rand() & 0xFFFF) / 65536.0f; } inline float sqr(float x) { return x*x; } static float radius = 0.21f; static float cx = 0, cy = 0, cz = 0; ////////////////////////////////////////////////////////////////////////////// static void check_calib() { compass_reset_calibration(); //---- Generates random points on a sphere ------------------------------- // of radius,center (cx, cy, cz): for(int i=0; i<100; ++i) { float theta = uniform()*360.0f; float phi = uniform()*180.0f - 90.0f; float x = cx + radius * cosf(phi)*cosf(theta); float y = cy + radius * cosf(phi)*sinf(theta); float z = cz + radius * sinf(phi); compass_DX_f = short(32768 * x); compass_DY_f = short(32768 * y); compass_DZ_f = short(32768 * z); compass_add_calibration(); } compass_solve_calibration(); float r2 = sqr(compass_CX_f/32768.0f - cx) + sqr(compass_CY_f/32768.0f - cy) + sqr(compass_CZ_f/32768.0f - cz); // Calibration error less than 2 bits: EXPECT_NEAR(0, sqrtf(r2), 4.0f/32768.0f) << "Center at (" << compass_CX_f/32768.0f << ", " << compass_CY_f/32768.0f << ", " << compass_CZ_f/32768.0f << ")." << " Error = " << sqrtf(r2); } ////////////////////////////////////////////////////////////////////////////// TEST(compass, calibration_centered) { compass_CX_f = compass_CY_f = compass_CZ_f = 0; // Half-unit, centered, sphere: radius = 0.5f; // Try 10 recalibration passes: for(int p=0; p<10; ++p) check_calib(); } ////////////////////////////////////////////////////////////////////////////// TEST(compass, calibration_near_centered) { // Put magnetic center elsewhere, but keep position+radius < 1.0, to // avoid Q15 overflow... radius = 0.21f; cx = 0.019f, cy = -0.026f, cz = 0.004f; // Try 10 recalibration passes: for(int p=0; p<10; ++p) check_calib(); } ////////////////////////////////////////////////////////////////////////////// TEST(compass, calibration_far_centered) { // Put magnetic center elsewhere, but keep position+radius < 1.0, to // avoid Q15 overflow... radius = 0.21f; cx = -0.79f, cy = 0.79f, cz = 0.79f; // Try 10 recalibration passes: for(int p=0; p<10; ++p) check_calib(); } ////////////////////////////////////////////////////////////////////////////// TEST(compass, calibration_small_centered_signal) { // use a very very small magnetic signal, centered: radius = 0.001f; cx = 0.000f, cy = 0.000f, cz = 0.000f; // Try 10 recalibration passes: for(int p=0; p<10; ++p) check_calib(); } ////////////////////////////////////////////////////////////////////////////// TEST(compass, calibration_small_off_centered_signal) { // Have a rather small sphere radius (20%), off-centered buy 80% radius = 0.200f; cx = 0.800f, cy = -0.800f, cz = 0.800f; // Try 10 recalibration passes: for(int p=0; p<10; ++p) check_calib(); }