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471ff12e701f984494bb15c30f764ac36c2fd8e2
gps/soc/software/fusion/tests/Makefile
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onur cayan 471ff12e70 test(fusion): guard the deadlock and calibration regressions, add noise tool 
The existing suite passed both before and after the fusion fixes, so it
never covered either failure. Two tests close that gap; both were checked
against the pre-fix sources and fail there.

calibration_offset_test reproduces the bench part's +28 mg zero-g offset
and requires startup to complete, while still refusing a sustained 3 m/s2
acceleration. It also asserts the blind spot rather than leaving it
implicit: horizontal acceleration adds to gravity in quadrature, so
1.5 m/s2 moves the magnitude by only 0.11 m/s2 and is not separable from
offset by any accelerometer gate. Separating it needs GNSS velocity.

long_outage_trajectory_test drives pedestrian, gentle-car (0-100 km/h in
30 s), slow-city and isolated-mount profiles across 1 and 5 minute
outages, using the production rest supervisor rather than a hand-set
flag. Only the isolated-mount slow-city case reproduces the field bug:
GNSS motion evidence compares displacement against covariance, so 4 m/s
under 6 m sigma scores a displacement NIS of 0.22 against a 9.21 gate and
reads as stationary, whereas highway speed scores 42.9 and is correctly
called moving. Pre-fix that case produces 608 zero-velocity updates while
driving, matching the 609 in the board logs.

Drift is judged against the filter's own covariance rather than a fixed
distance. Five minutes unaided legitimately reaches kilometres on this
hardware; what must not happen is the error outrunning the covariance,
which is divergence rather than honest coasting.

tdk_noise_test characterises the sensor at rest through the production
driver, so ODR, full scale, UI filter and LSB scaling match the flight
build, and reports the norms fusion_motion_update() actually gates on.
It also carries an INT1-to-PLIC continuity test that drives the pin to a
static level and reads the PLIC pending bit directly, separating a broken
line from a source that never fires.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
2026-08-07 22:06:24 +03:00

158 lines
8.1 KiB
Makefile
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CC ?= cc
CFLAGS ?= -std=c11 -O2 -Wall -Wextra -Wpedantic
CFLAGS += -I../../gps_system/header
LDLIBS ?= -lm
GPS_TIME_SOURCE := ../../gps_system/src/gps/gps_time_anchor.c
GPS_EPOCH_SOURCE := ../../gps_system/src/gps/gps_nav_epoch.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 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 gps_failure_scenario_test calibration_offset_test long_outage_trajectory_test
standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE) $(GPS_EPOCH_SOURCE)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
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)
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)
gps_failure_scenario_test: gps_failure_scenario_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
calibration_offset_test: calibration_offset_test.c $(ESKF_SOURCES) $(IMU_PROFILE_SOURCE)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
long_outage_trajectory_test: long_outage_trajectory_test.c $(ESKF_SOURCES) $(IMU_PROFILE_SOURCE)
$(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 calibration_offset_test long_outage_trajectory_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
./calibration_offset_test
./long_outage_trajectory_test
gps-system-test: standalone_gps_integrity_test
./standalone_gps_integrity_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 standalone_gps_integrity_test.c \
$(GPS_TIME_SOURCE) $(GPS_EPOCH_SOURCE) \
-o standalone_gps_integrity_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./standalone_gps_integrity_test_san
$(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) \
-o eskf_motion_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./eskf_motion_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header fusion_synthetic_test.c $(ESKF_SOURCES) \
-o fusion_synthetic_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./fusion_synthetic_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header imu_quality_synthetic_test.c $(ESKF_SOURCES) \
$(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
$(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 \
-I../../gps_system/header fusion_synthetic_test.c $(ESKF_SOURCES) \
-o fusion_synthetic_test_gprof $(LDLIBS)
./fusion_synthetic_test_gprof
gprof ./fusion_synthetic_test_gprof gmon.out
benchmark: standalone_gps_integrity_test
./standalone_gps_integrity_test --bench-clean 100000
./standalone_gps_integrity_test --bench-single 100000
./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 gps_failure_scenario_test gps_failure_scenario_test_san calibration_offset_test calibration_offset_test_san long_outage_trajectory_test long_outage_trajectory_test_san gmon.out
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