mirror of
https://github.com/PX4/PX4-Autopilot.git
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76 lines
3.3 KiB
C++
76 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <chrono>
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#include <cmath>
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#include "autopilot_tester.h"
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// Reproduces the stale home-yaw bug: when home is first set from a raw-GPS fix while the local position
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// estimate is invalid, home.yaw must still end up at the true ground heading.
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TEST_CASE("SIH: home yaw captured when local position invalid", "[sih_home_yaw]")
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{
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using namespace std::chrono_literals;
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AutopilotTester tester;
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tester.connect(connection_url);
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// No GPS fix yet: wait for the magnetometer heading to align and settle, so that no later heading
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// reset can refresh home.yaw and mask the bug.
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tester.sleep_for(10s);
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const float ground_yaw_deg = tester.get_attitude_euler().yaw_deg;
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// Degraded GPS: good enough for the home position, too few sats for EKF fusion -> local position
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// stays invalid. This is the exact condition under which the buggy code leaves home.yaw at 0.
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tester.set_param_int("SIM_GPS_USED", 5);
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tester.sleep_for(6s);
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const mavlink_home_position_t home = tester.get_home_position();
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// Copy out of the packed message struct before forming a float* for the conversion helper.
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const float q[4] = {home.q[0], home.q[1], home.q[2], home.q[3]};
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float roll_rad, pitch_rad, home_yaw_rad;
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mavlink_quaternion_to_euler(q, &roll_rad, &pitch_rad, &home_yaw_rad);
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const float home_yaw_deg = home_yaw_rad * 180.f / static_cast<float>(M_PI);
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float diff_deg = std::fabs(ground_yaw_deg - home_yaw_deg);
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if (diff_deg > 180.f) {
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diff_deg = 360.f - diff_deg;
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}
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CAPTURE(ground_yaw_deg);
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CAPTURE(home_yaw_deg);
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// With the fix home.yaw tracks the true ground heading; with the bug it stays at 0 (North).
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CHECK(diff_deg < 20.f);
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}
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