onur cayan
471ff12e70
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>
40 lines
1.2 KiB
Makefile
40 lines
1.2 KiB
Makefile
TARGET := tdk_noise_test
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GPS_SYSTEM_DIR ?= ../gps_system
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# The production driver is compiled in directly so the sensor is configured
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# exactly as the flight build configures it.
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vpath %.c $(GPS_SYSTEM_DIR)/src/drivers/imu
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APP_SRCS := \
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main.c \
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tdk_icm42688.c
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BSP_SRCS := init.c uart.c plic.c irq.c pmod_spi.c
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# Genesys2 fabric/UART and CLINT defaults, matching the gps_system app.
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BSP_UART_CLOCK_HZ ?= 50000000
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BSP_UART_BAUDRATE ?= 460800
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BSP_CLINT_TIMEBASE_HZ ?= 500000
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# Mirrors gps_system IMU_ODR_HZ; override together with it.
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NOISE_ODR_HZ ?= 50
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NOISE_DISCARD_SAMPLES ?= 100
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NOISE_BIAS_SAMPLES ?= 1000
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NOISE_MEASURE_SAMPLES ?= 3000
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# Set to 1 to refuse the polled fallback, so a broken INT1 route fails loudly.
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NOISE_REQUIRE_IRQ ?= 0
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# Set to 1 to run only the INT1 -> PLIC continuity test and exit.
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NOISE_PIN_TEST ?= 0
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include ../common/app.mk
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CFLAGS += -I$(GPS_SYSTEM_DIR)/header
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CFLAGS += -DNOISE_ODR_HZ=$(NOISE_ODR_HZ)u \
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-DNOISE_DISCARD_SAMPLES=$(NOISE_DISCARD_SAMPLES)u \
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-DNOISE_BIAS_SAMPLES=$(NOISE_BIAS_SAMPLES)u \
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-DNOISE_MEASURE_SAMPLES=$(NOISE_MEASURE_SAMPLES)u \
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-DNOISE_REQUIRE_IRQ=$(NOISE_REQUIRE_IRQ) \
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-DNOISE_PIN_TEST=$(NOISE_PIN_TEST)
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LDLIBS += -lm
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