ekf2: add gyro bias estimation unit tests

src/modules/ekf2/test/CMakeLists.txt

@@ -43,6 +43,7 @@ px4_add_unit_gtest(SRC test_EKF_basics.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_covariance_prediction_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_externalVision.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_flow.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
+px4_add_unit_gtest(SRC test_EKF_gyroscope.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
 px4_add_unit_gtest(SRC test_EKF_opt_flow_fusion_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_fusionLogic.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
 px4_add_unit_gtest(SRC test_EKF_gps.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)

src/modules/ekf2/test/test_EKF_gyroscope.cpp

@@ -0,0 +1,112 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Gyro-related tests (bias convergence, ...)
+ */
+
+#include <gtest/gtest.h>
+#include "EKF/ekf.h"
+#include "sensor_simulator/sensor_simulator.h"
+#include "sensor_simulator/ekf_wrapper.h"
+#include "test_helper/reset_logging_checker.h"
+
+
+class EkfGyroscopeTest : public ::testing::Test
+{
+public:
+
+	EkfGyroscopeTest(): ::testing::Test(),
+		_ekf{std::make_shared<Ekf>()},
+		_sensor_simulator(_ekf),
+		_ekf_wrapper(_ekf) {};
+
+	std::shared_ptr<Ekf> _ekf;
+	SensorSimulator _sensor_simulator;
+	EkfWrapper _ekf_wrapper;
+
+	// Setup the Ekf with synthetic measurements
+	void SetUp() override
+	{
+		// run briefly to init, then manually set in air and at rest (default for a real vehicle)
+		_ekf->init(0);
+		_sensor_simulator.runSeconds(0.1);
+		_ekf->set_in_air_status(false);
+		_ekf->set_vehicle_at_rest(true);
+	}
+
+	// Use this method to clean up any memory, network etc. after each test
+	void TearDown() override
+	{
+	}
+
+	void testBias(const Vector3f &bias, float duration, float tolerance);
+};
+
+void EkfGyroscopeTest::testBias(const Vector3f &bias, float duration, float tolerance)
+{
+	_sensor_simulator._imu.setGyroData(bias);
+	_sensor_simulator.runSeconds(duration);
+
+	const Vector3f estimated_bias = _ekf->getGyroBias();
+	EXPECT_TRUE(matrix::isEqual(estimated_bias, bias,
+				    tolerance)) << estimated_bias - bias;
+}
+
+TEST_F(EkfGyroscopeTest, biasEstimateZero)
+{
+	testBias(Vector3f(), 10, 0.f);
+}
+
+TEST_F(EkfGyroscopeTest, biasEstimatePositive)
+{
+	// The estimate should track a slowly changing bias
+	const float biases[4] = {0.001f, 0.002f, 0.0035f, 0.005f};
+	Vector3f bias;
+
+	for (int i = 0; i < 4; i ++) {
+		bias.setAll(biases[i]);
+		testBias(bias, 30, 0.0008f);
+	}
+}
+
+TEST_F(EkfGyroscopeTest, biasEstimateNegative)
+{
+	const float biases[4] = {-0.001f, -0.002f, -0.0035, -0.005f};
+	Vector3f bias;
+
+	for (int i = 0; i < 4; i ++) {
+		bias.setAll(biases[i]);
+		testBias(bias, 30, 0.0008f);
+	}
+}