src/test/unit/maths_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdbool.h>
  20
  21 #include <limits.h>
  22
  23 #include <math.h>
  24
  25 #define USE_BARO
  26
  27 extern "C" {
  28     #include "common/maths.h"
  29     #include "common/vector.h"
  30 }
  31
  32 #include "unittest_macros.h"
  33 #include "gtest/gtest.h"
  34
  35 TEST(MathsUnittest, TestConstrain)
  36 {
  37     // Within bounds
  38     EXPECT_EQ(constrain(0, 0, 0), 0);
  39     EXPECT_EQ(constrain(1, 1, 1), 1);
  40     EXPECT_EQ(constrain(1, 0, 2), 1);
  41
  42     // Equal to bottom bound.
  43     EXPECT_EQ(constrain(1, 1, 2), 1);
  44     // Equal to top bound.
  45     EXPECT_EQ(constrain(1, 0, 1), 1);
  46
  47     // Equal to both bottom and top bound.
  48     EXPECT_EQ(constrain(1, 1, 1), 1);
  49
  50     // Above top bound.
  51     EXPECT_EQ(constrain(2, 0, 1), 1);
  52     // Below bottom bound.
  53     EXPECT_EQ(constrain(0, 1, 2), 1);
  54 }
  55
  56 TEST(MathsUnittest, TestConstrainNegatives)
  57 {
  58     // Within bounds.
  59     EXPECT_EQ(constrain(-1, -1, -1), -1);
  60     EXPECT_EQ(constrain(-1, -2, 0), -1);
  61
  62     // Equal to bottom bound.
  63     EXPECT_EQ(constrain(-1, -1, 0), -1);
  64     // Equal to top bound.
  65     EXPECT_EQ(constrain(-1, -2, -1), -1);
  66
  67     // Equal to both bottom and top bound.
  68     EXPECT_EQ(constrain(-1, -1, -1), -1);
  69
  70     // Above top bound.
  71     EXPECT_EQ(constrain(-1, -3, -2), -2);
  72     // Below bottom bound.
  73     EXPECT_EQ(constrain(-3, -2, -1), -2);
  74 }
  75
  76 TEST(MathsUnittest, TestConstrainf)
  77 {
  78     // Within bounds.
  79     EXPECT_FLOAT_EQ(constrainf(1.0f, 0.0f, 2.0f), 1.0f);
  80
  81     // Equal to bottom bound.
  82     EXPECT_FLOAT_EQ(constrainf(1.0f, 1.0f, 2.0f), 1.0f);
  83     // Equal to top bound.
  84     EXPECT_FLOAT_EQ(constrainf(1.0f, 0.0f, 1.0f), 1.0f);
  85
  86     // Equal to both bottom and top bound.
  87     EXPECT_FLOAT_EQ(constrainf(1.0f, 1.0f, 1.0f), 1.0f);
  88
  89     // Above top bound.
  90     EXPECT_FLOAT_EQ(constrainf(2.0f, 0.0f, 1.0f), 1.0f);
  91     // Below bottom bound.
  92     EXPECT_FLOAT_EQ(constrainf(0, 1.0f, 2.0f), 1.0f);
  93
  94     // Above bouth bounds.
  95     EXPECT_FLOAT_EQ(constrainf(2.0f, 0.0f, 1.0f), 1.0f);
  96     // Below bouth bounds.
  97     EXPECT_FLOAT_EQ(constrainf(0, 1.0f, 2.0f), 1.0f);
  98 }
  99
 100 TEST(MathsUnittest, TestDegreesToRadians)
 101 {
 102     EXPECT_FLOAT_EQ(degreesToRadians(0), 0.0f);
 103     EXPECT_FLOAT_EQ(degreesToRadians(90), 0.5f * M_PIf);
 104     EXPECT_FLOAT_EQ(degreesToRadians(180), M_PIf);
 105     EXPECT_FLOAT_EQ(degreesToRadians(-180), - M_PIf);
 106 }
 107
 108 TEST(MathsUnittest, TestApplyDeadband)
 109 {
 110     EXPECT_EQ(applyDeadband(0, 0), 0);
 111     EXPECT_EQ(applyDeadband(1, 0), 1);
 112     EXPECT_EQ(applyDeadband(-1, 0), -1);
 113
 114     EXPECT_EQ(applyDeadband(0, 10), 0);
 115     EXPECT_EQ(applyDeadband(1, 10), 0);
 116     EXPECT_EQ(applyDeadband(10, 10), 0);
 117
 118     EXPECT_EQ(applyDeadband(11, 10), 1);
 119     EXPECT_EQ(applyDeadband(-11, 10), -1);
 120 }
 121
 122 void expectVectorsAreEqual(fpVector3_t *a, fpVector3_t *b)
 123 {
 124     EXPECT_FLOAT_EQ(a->x, b->x);
 125     EXPECT_FLOAT_EQ(a->y, b->y);
 126     EXPECT_FLOAT_EQ(a->z, b->z);
 127 }
 128
 129 TEST(MathsUnittest, TestRotateVectorWithNoAngle)
 130 {
 131     fpVector3_t vector = { .x = 1.0f, .y = 0.0f, .z = 0.0f};
 132     fp_angles_t euler_angles = {.raw={0.0f, 0.0f, 0.0f}};
 133
 134     fpMat3_t rmat;
 135     rotationMatrixFromAngles(&rmat, &euler_angles);
 136     rotationMatrixRotateVector(&vector, &vector, &rmat);
 137
 138     fpVector3_t expected_result = { .x = 1.0f, .y = 0.0f, .z = 0.0f};
 139     expectVectorsAreEqual(&vector, &expected_result);
 140 }
 141
 142 TEST(MathsUnittest, TestRotateVectorAroundAxis)
 143 {
 144     // Rotate a vector <1, 0, 0> around an each axis x y and z.
 145     fpVector3_t vector = { .x = 1.0f, .y = 0.0f, .z = 0.0f};
 146     fp_angles_t euler_angles = {.raw={90.0f, 0.0f, 0.0f}};
 147
 148     fpMat3_t rmat;
 149     rotationMatrixFromAngles(&rmat, &euler_angles);
 150     rotationMatrixRotateVector(&vector, &vector, &rmat);
 151
 152     fpVector3_t expected_result = { .x = 1.0f, .y = 0.0f, .z = 0.0f};
 153     expectVectorsAreEqual(&vector, &expected_result);
 154 }
 155
 156 #if defined(FAST_MATH) || defined(VERY_FAST_MATH)
 157 TEST(MathsUnittest, TestFastTrigonometrySinCos)
 158 {
 159     EXPECT_NEAR(sin_approx(0.0f),                        0.0f, 1e-6);
 160     EXPECT_NEAR(sin_approx(M_PIf / 2),                   1.0f, 1e-6);
 161     EXPECT_NEAR(sin_approx(-M_PIf / 2),                 -1.0f, 1e-6);
 162     EXPECT_NEAR(sin_approx(M_PIf),                       0.0f, 1e-6);
 163     EXPECT_NEAR(sin_approx(-M_PIf),                      0.0f, 1e-6);
 164     EXPECT_NEAR(sin_approx(3 * M_PIf / 2),              -1.0f, 1e-6);
 165     EXPECT_NEAR(sin_approx(-3 * M_PIf / 2),              1.0f, 1e-6);
 166     EXPECT_NEAR(sin_approx(2 * M_PIf),                   0.0f, 1e-6);
 167     EXPECT_NEAR(sin_approx(-2 * M_PIf),                  0.0f, 1e-6);
 168     EXPECT_NEAR(sin_approx(3 * M_PIf / 4),               0.707106781f, 1e-6);
 169     EXPECT_NEAR(sin_approx(-3 * M_PIf / 4),             -0.707106781f, 1e-6);
 170     EXPECT_NEAR(sin_approx(2 * M_PIf + 3 * M_PIf / 4),   0.707106781f, 1e-6);
 171     EXPECT_NEAR(sin_approx(-2 * M_PIf - 3 * M_PIf / 4), -0.707106781f, 1e-6);
 172
 173     EXPECT_NEAR(cos_approx(0.0f),                        1.0f, 1e-6);
 174     EXPECT_NEAR(cos_approx(M_PIf / 2),                   0.0f, 1e-6);
 175     EXPECT_NEAR(cos_approx(-M_PIf / 2),                  0.0f, 1e-6);
 176     EXPECT_NEAR(cos_approx(M_PIf),                      -1.0f, 1e-6);
 177     EXPECT_NEAR(cos_approx(-M_PIf),                     -1.0f, 1e-6);
 178     EXPECT_NEAR(cos_approx(3 * M_PIf / 2),               0.0f, 1e-6);
 179     EXPECT_NEAR(cos_approx(-3 * M_PIf / 2),              0.0f, 1e-6);
 180     EXPECT_NEAR(cos_approx(2 * M_PIf),                   1.0f, 1e-6);
 181     EXPECT_NEAR(cos_approx(-2 * M_PIf),                  1.0f, 1e-6);
 182     EXPECT_NEAR(cos_approx(3 * M_PIf / 4),              -0.707106781f, 1e-6);
 183     EXPECT_NEAR(cos_approx(-3 * M_PIf / 4),             -0.707106781f, 1e-6);
 184     EXPECT_NEAR(cos_approx(2 * M_PIf + 3 * M_PIf / 4),  -0.707106781f, 1e-6);
 185     EXPECT_NEAR(cos_approx(-2 * M_PIf - 3 * M_PIf / 4), -0.707106781f, 1e-6);
 186 }
 187
 188 TEST(MathsUnittest, TestFastTrigonometryATan2)
 189 {
 190     EXPECT_NEAR(atan2_approx(1, 1),          M_PIf / 4, 1e-6);
 191     EXPECT_NEAR(atan2_approx(-1, 1),        -M_PIf / 4, 1e-6);
 192     EXPECT_NEAR(atan2_approx(1, -1),     3 * M_PIf / 4, 1e-6);
 193     EXPECT_NEAR(atan2_approx(-1, -1),   -3 * M_PIf / 4, 1e-6);
 194     EXPECT_NEAR(atan2_approx(0, 1),                  0, 1e-6);
 195     EXPECT_NEAR(atan2_approx(0, -1),             M_PIf, 1e-6);
 196     EXPECT_NEAR(atan2_approx(1, 0),          M_PIf / 2, 1e-6);
 197     EXPECT_NEAR(atan2_approx(-1, 0),        -M_PIf / 2, 1e-6);
 198 }
 199
 200 TEST(MathsUnittest, TestFastTrigonometryACos)
 201 {
 202     EXPECT_NEAR(acos_approx(0.0f),              M_PIf / 2, 1e-4);
 203     EXPECT_NEAR(acos_approx(1.0f),                      0, 1e-4);
 204     EXPECT_NEAR(acos_approx(-1.0f),                 M_PIf, 1e-4);
 205     EXPECT_NEAR(acos_approx(0.707106781f),      M_PIf / 4, 1e-4);
 206     EXPECT_NEAR(acos_approx(-0.707106781f), 3 * M_PIf / 4, 1e-4);
 207 }
 208
 209 /*
 210 TEST(MathsUnittest, TestSensorScaleUnitTest)
 211 {
 212     sensorCalibrationState_t calState;
 213     float result[3];
 214
 215     int16_t samples[6][3] = {
 216         {  2896,  2896,      0 },
 217         { -2897,  2896,      0 },
 218         {     0,  4096,      0 },
 219         {     0, -4096,      0 },
 220         {     0,  2895,  -2897 },
 221         {     0,     0,  -4096 } };
 222
 223     // Given
 224     sensorCalibrationResetState(&calState);
 225     sensorCalibrationPushSampleForScaleCalculation(&calState, 0, samples[0], 4096 );
 226     sensorCalibrationPushSampleForScaleCalculation(&calState, 0, samples[1], 4096 );
 227     sensorCalibrationPushSampleForScaleCalculation(&calState, 1, samples[2], 4096 );
 228     sensorCalibrationPushSampleForScaleCalculation(&calState, 1, samples[3], 4096 );
 229     sensorCalibrationPushSampleForScaleCalculation(&calState, 2, samples[4], 4096 );
 230     sensorCalibrationPushSampleForScaleCalculation(&calState, 2, samples[5], 4096 );
 231     sensorCalibrationSolveForScale(&calState, result);
 232
 233     EXPECT_NEAR(result[0], 1, 1e-4);
 234     EXPECT_NEAR(result[1], 1, 1e-4);
 235     EXPECT_NEAR(result[2], 1, 1e-4);
 236 }
 237 */
 238 #endif