onur/gps
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix(fusion): harden ESKF GPS failure handling

Browse Source
This commit is contained in:
onur
2026-07-24 12:33:26 +03:00
parent 93766b007f
commit ea055a36d2
7 changed files with 661 additions and 145 deletions
Download Patch File Download Diff File Expand all files Collapse all files
soc/software/fusion/tests/Makefile
+13 -3
View File
@@ -10,7 +10,7 @@ IMU_PROFILE_SOURCE := ../../gps_system/src/adapters/imu_fusion_profile.c
.PHONY: all test gps-system-test scenario-logs sanitize profile benchmark clean
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
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 gps_failure_scenario_test
standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE) $(GPS_EPOCH_SOURCE)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
@@ -39,7 +39,10 @@ gps_reacquisition_test: gps_reacquisition_test.c $(ESKF_SOURCES)
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
gps_failure_scenario_test: gps_failure_scenario_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 gps_failure_scenario_test
./standalone_gps_integrity_test
./eskf_motion_test
./fusion_rest_detector_test
@@ -49,6 +52,7 @@ test: standalone_gps_integrity_test eskf_motion_test fusion_rest_detector_test f
./async_rate_matrix_test
./gps_reacquisition_test
./platform_scenario_matrix_test
./gps_failure_scenario_test
gps-system-test: standalone_gps_integrity_test
./standalone_gps_integrity_test
@@ -122,6 +126,12 @@ sanitize:
-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
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header gps_failure_scenario_test.c $(ESKF_SOURCES) \
-o gps_failure_scenario_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./gps_failure_scenario_test_san
profile:
$(CC) -std=c11 -O2 -g -pg -Wall -Wextra -Wpedantic \
@@ -136,4 +146,4 @@ 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_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
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 gps_failure_scenario_test gps_failure_scenario_test_san gmon.out