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Integrate asynchronous GPS IMU fusion

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onur
2026-07-16 23:49:43 +03:00
parent 38a96dd88f
commit 7cc3eb2a54
80 changed files with 3901 additions and 553 deletions
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soc/software/fusion/tests/Makefile
+70 -7
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@@ -3,13 +3,13 @@ CFLAGS ?= -std=c11 -O2 -Wall -Wextra -Wpedantic
CFLAGS += -I../../gps_system/header
LDLIBS ?= -lm
GPS_TIME_SOURCE := ../../gps_system/src/gps_time_anchor.c
ESKF_SOURCES := ../../gps_system/src/eskf.c ../../gps_system/src/fusion_motion.c ../../gps_system/src/fusion_engine.c ../../gps_system/src/fusion_gps_adapter.c ../../gps_system/src/fusion_bus.c
IMU_PROFILE_SOURCE := ../../gps_system/src/imu_sensor_profile.c
GPS_TIME_SOURCE := ../../gps_system/src/gps/gps_time_anchor.c
ESKF_SOURCES := ../../gps_system/src/fusion/eskf.c ../../gps_system/src/fusion/fusion_motion.c ../../gps_system/src/fusion/fusion_rest_detector.c ../../gps_system/src/fusion/fusion_engine.c ../../gps_system/src/fusion/fusion_gps_adapter.c ../../gps_system/src/fusion/fusion_bus.c
IMU_PROFILE_SOURCE := ../../gps_system/src/adapters/imu_fusion_profile.c
.PHONY: all test sanitize profile benchmark clean
.PHONY: all test scenario-logs sanitize profile benchmark clean
all: standalone_gps_integrity_test eskf_motion_test fusion_synthetic_test imu_quality_synthetic_test
all: standalone_gps_integrity_test eskf_motion_test fusion_rest_detector_test fusion_synthetic_test imu_quality_synthetic_test async_tilt_recovery_test async_rate_matrix_test gps_reacquisition_test platform_scenario_matrix_test
standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
@@ -17,19 +17,58 @@ standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE
eskf_motion_test: eskf_motion_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
fusion_rest_detector_test: fusion_rest_detector_test.c ../../gps_system/src/fusion/fusion_rest_detector.c
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
fusion_synthetic_test: fusion_synthetic_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
imu_quality_synthetic_test: imu_quality_synthetic_test.c $(ESKF_SOURCES) $(IMU_PROFILE_SOURCE)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
test: standalone_gps_integrity_test eskf_motion_test fusion_synthetic_test imu_quality_synthetic_test
async_tilt_recovery_test: async_tilt_recovery_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
async_rate_matrix_test: async_rate_matrix_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
gps_reacquisition_test: gps_reacquisition_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
platform_scenario_matrix_test: platform_scenario_matrix_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
test: standalone_gps_integrity_test eskf_motion_test fusion_rest_detector_test fusion_synthetic_test imu_quality_synthetic_test async_tilt_recovery_test async_rate_matrix_test gps_reacquisition_test platform_scenario_matrix_test
./standalone_gps_integrity_test
./eskf_motion_test
./fusion_rest_detector_test
./fusion_synthetic_test
./imu_quality_synthetic_test
./async_tilt_recovery_test
./async_rate_matrix_test
./gps_reacquisition_test
./platform_scenario_matrix_test
scenario-logs: platform_scenario_matrix_test
mkdir -p output/scenarios
@for scenario in stationary pedestrian car aircraft; do \
for gps in 200 500 1000; do \
for imu in 19 20 200 300; do \
./platform_scenario_matrix_test --log $$scenario $$gps $$imu \
output/scenarios/$${scenario}_gps$${gps}_imu$${imu}.log >/dev/null || exit $$?; \
done; \
done; \
done
@echo "Wrote 48 replay logs under output/scenarios/"
sanitize:
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header fusion_rest_detector_test.c \
../../gps_system/src/fusion/fusion_rest_detector.c \
-o fusion_rest_detector_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./fusion_rest_detector_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header eskf_motion_test.c $(ESKF_SOURCES) \
@@ -48,6 +87,30 @@ sanitize:
$(IMU_PROFILE_SOURCE) -o imu_quality_synthetic_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./imu_quality_synthetic_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header async_tilt_recovery_test.c $(ESKF_SOURCES) \
-o async_tilt_recovery_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./async_tilt_recovery_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header async_rate_matrix_test.c $(ESKF_SOURCES) \
-o async_rate_matrix_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./async_rate_matrix_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header gps_reacquisition_test.c $(ESKF_SOURCES) \
-o gps_reacquisition_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./gps_reacquisition_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header platform_scenario_matrix_test.c $(ESKF_SOURCES) \
-o platform_scenario_matrix_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./platform_scenario_matrix_test_san
profile:
$(CC) -std=c11 -O2 -g -pg -Wall -Wextra -Wpedantic \
@@ -62,4 +125,4 @@ benchmark: standalone_gps_integrity_test
./standalone_gps_integrity_test --bench-double 100000
clean:
rm -f standalone_gps_integrity_test standalone_gps_integrity_test_san standalone_gps_integrity_test_gprof eskf_motion_test eskf_motion_test_san fusion_synthetic_test fusion_synthetic_test_san fusion_synthetic_test_gprof fusion_synthetic_trace imu_quality_synthetic_test imu_quality_synthetic_test_san gmon.out
rm -f standalone_gps_integrity_test standalone_gps_integrity_test_san standalone_gps_integrity_test_gprof eskf_motion_test eskf_motion_test_san fusion_rest_detector_test fusion_rest_detector_test_san fusion_synthetic_test fusion_synthetic_test_san fusion_synthetic_test_gprof fusion_synthetic_trace imu_quality_synthetic_test imu_quality_synthetic_test_san async_tilt_recovery_test async_tilt_recovery_test_san async_rate_matrix_test async_rate_matrix_test_san gps_reacquisition_test gps_reacquisition_test_san platform_scenario_matrix_test platform_scenario_matrix_test_san gmon.out