''' '''
'''
ISC License
Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
Permission to use, copy, modify, and/or distribute this software for any
purpose with or without fee is hereby granted, provided that the above
copyright notice and this permission notice appear in all copies.
THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
'''
import numpy
import math, inspect, os
from Basilisk.utilities import SimulationBaseClass
from Basilisk.simulation import alg_contain
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
import matplotlib.pyplot as plt
from Basilisk.fswAlgorithms import inertialUKF # import the module that is to be tested
from Basilisk.utilities import macros
from Basilisk.simulation import sim_model
from Basilisk.utilities import simIncludeRW
from Basilisk.simulation import reactionWheelStateEffector
from Basilisk.simulation import spacecraftPlus
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
textSnippetPassed = r'\textcolor{ForestGreen}{' + "PASSED" + '}'
textSnippetFailed = r'\textcolor{Red}{' + "Failed" + '}'
def setupFilterData(filterObject):
filterObject.navStateOutMsgName = "inertial_state_estimate"
filterObject.filtDataOutMsgName = "inertial_filter_data"
filterObject.massPropsInMsgName = "adcs_config_data"
filterObject.rwSpeedsInMsgName = "reactionwheel_output_states"
filterObject.rwParamsInMsgName = "rwa_config_data_parsed"
filterObject.gyrBuffInMsgName = "gyro_buffer_data"
filterObject.alpha = 0.02
filterObject.beta = 2.0
filterObject.kappa = 0.0
filterObject.switchMag = 1.2
ST1Data = inertialUKF.STMessage()
ST1Data.stInMsgName = "star_tracker_1_data"
ST1Data.noise = [0.00017 * 0.00017, 0.0, 0.0,
0.0, 0.00017 * 0.00017, 0.0,
0.0, 0.0, 0.00017 * 0.00017]
ST2Data = inertialUKF.STMessage()
ST2Data.stInMsgName = "star_tracker_2_data"
ST2Data.noise = [0.00017 * 0.00017, 0.0, 0.0,
0.0, 0.00017 * 0.00017, 0.0,
0.0, 0.0, 0.00017 * 0.00017]
STList = [ST1Data, ST2Data]
filterObject.STDatasStruct.STMessages = STList
filterObject.STDatasStruct.numST = len(STList)
filterObject.stateInit = [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
filterObject.covarInit = [0.04, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.04, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.04, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.004, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.004, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.004]
qNoiseIn = numpy.identity(6)
qNoiseIn[0:3, 0:3] = qNoiseIn[0:3, 0:3]*0.0017*0.0017
qNoiseIn[3:6, 3:6] = qNoiseIn[3:6, 3:6]*0.00017*0.00017
filterObject.qNoise = qNoiseIn.reshape(36).tolist()
lpDataUse = inertialUKF.LowPassFilterData()
lpDataUse.hStep = 0.5
lpDataUse.omegCutoff = 15.0/(2.0*math.pi)
filterObject.gyroFilt = [lpDataUse, lpDataUse, lpDataUse]
# uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed
# @pytest.mark.skipif(conditionstring)
# uncomment this line if this test has an expected failure, adjust message as needed
# @pytest.mark.xfail() # need to update how the RW states are defined
# provide a unique test method name, starting with test_
[docs]def all_inertial_kfTest(show_plots):
"""Module Unit Tests"""
[testResults, testMessage] = test_StatePropInertialAttitude(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = test_StatePropRateInertialAttitude(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = test_StateUpdateInertialAttitude(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = test_StateUpdateRWInertialAttitude(show_plots)
assert testResults < 1, testMessage
[testResults, testMessage] = test_FilterMethods()
assert testResults <1, testMessage
[testResults, testMessage] = test_FaultScenarios()
assert testResults < 1, testMessage
[docs]def test_FilterMethods():
"""Module Unit Test"""
testFailCount = 0
testMessages = []
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(1.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
accuracy = 1E-10
# Construct algorithm and associated C++ container
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = alg_contain.AlgContain(moduleConfig,
inertialUKF.Update_inertialUKF,
inertialUKF.SelfInit_inertialUKF,
inertialUKF.CrossInit_inertialUKF,
inertialUKF.Reset_inertialUKF)
moduleWrap.ModelTag = "inertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
st1 = inertialUKF.STAttFswMsg()
st1.timeTag = macros.sec2nano(1.25)
st1.MRP_BdyInrtl = [0.1, 0.2, 0.3]
st2 = inertialUKF.STAttFswMsg()
st2.timeTag = macros.sec2nano(1.0)
st1.MRP_BdyInrtl = [0.2, 0.2, 0.3]
st3 = inertialUKF.STAttFswMsg()
st3.timeTag = macros.sec2nano(0.75)
st1.MRP_BdyInrtl = [0.3, 0.2, 0.3]
ST1Data = inertialUKF.STMessage()
ST1Data.stInMsgName = "star_tracker_1_data"
ST2Data = inertialUKF.STMessage()
ST2Data.stInMsgName = "star_tracker_2_data"
ST3Data = inertialUKF.STMessage()
ST3Data.stInMsgName = "star_tracker_3_data"
STList = [ST1Data, ST2Data, ST3Data]
state = inertialUKF.new_doubleArray(6)
stateInput = numpy.array([1., 0., 0., 0.1, 0.1, 0.1])
for i in range(len(stateInput)):
inertialUKF.doubleArray_setitem(state, i, stateInput[i])
wheelAccel = numpy.array([-5, 5]) / 1. * numpy.array([1., 1])
angAccel = -0.5 * (wheelAccel[0] + wheelAccel[1]) * numpy.array([1., 0., 0])
expectedRate = numpy.array(stateInput[3:]) + angAccel
inertialUKF.inertialStateProp(moduleConfig, state, 0.5)
stateOut = []
for j in range(6):
stateOut.append(inertialUKF.doubleArray_getitem(state, j))
if numpy.linalg.norm(expectedRate - numpy.array(stateOut)[3:]) > accuracy:
testFailCount += 1
testMessages.append("Failed to caputre wheel acceleration in inertialStateProp")
setupFilterData(moduleConfig)
vehicleConfigOut = inertialUKF.VehicleConfigFswMsg()
inputMessageSize = vehicleConfigOut.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.massPropsInMsgName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
unitTestSim.TotalSim.WriteMessageData(moduleConfig.massPropsInMsgName,
inputMessageSize,
0,
vehicleConfigOut)
moduleConfig.STDatasStruct.STMessages = STList
moduleConfig.STDatasStruct.numST = len(STList)
unitTestSim.AddVariableForLogging('inertialUKF.stSensorOrder', testProcessRate , 0, 3, 'double')
for i in range(1,4):
inputMessageSize = eval("st"+str(i)).getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
"star_tracker_" + str(i) + "_data",
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
unitTestSim.TotalSim.WriteMessageData("star_tracker_" + str(i) + "_data",
inputMessageSize,
0,
eval("st"+str(i)))
# Star Tracker Read Message and Order method
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(1E9)
unitTestSim.ExecuteSimulation()
stOrdered = unitTestSim.GetLogVariableData('inertialUKF.stSensorOrder')
if numpy.linalg.norm(numpy.array(stOrdered[0]) - numpy.array([0., 2, 1, 0, 0])) > accuracy:
testFailCount+=1
testMessages.append("ST order test failed")
unitTestSupport.writeTeXSnippet("toleranceValue00", str(accuracy), path)
if testFailCount == 0:
unitTestSupport.writeTeXSnippet("passFail00", textSnippetPassed, path)
else:
unitTestSupport.writeTeXSnippet("passFail00", textSnippetFailed, path)
return [testFailCount, ''.join(testMessages)]
[docs]def test_StateUpdateInertialAttitude(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = alg_contain.AlgContain(moduleConfig,
inertialUKF.Update_inertialUKF,
inertialUKF.SelfInit_inertialUKF,
inertialUKF.CrossInit_inertialUKF,
inertialUKF.Reset_inertialUKF)
moduleWrap.ModelTag = "InertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
setupFilterData(moduleConfig)
moduleConfig.maxTimeJump = 10
vehicleConfigOut = inertialUKF.VehicleConfigFswMsg()
inputMessageSize = vehicleConfigOut.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.massPropsInMsgName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
unitTestSim.TotalSim.WriteMessageData(moduleConfig.massPropsInMsgName,
inputMessageSize,
0,
vehicleConfigOut)
stMessage1 = inertialUKF.STAttFswMsg()
stMessage1.MRP_BdyInrtl = [0.3, 0.4, 0.5]
inputMessageSize = stMessage1.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.STDatasStruct.STMessages[0].stInMsgName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
stMessage2 = inertialUKF.STAttFswMsg()
stMessage2.MRP_BdyInrtl = [0.3, 0.4, 0.5]
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.STDatasStruct.STMessages[1].stInMsgName,
inputMessageSize,
2)
# stateTarget = testVector.tolist()
# stateTarget.extend([0.0, 0.0, 0.0])
# moduleConfig.state = [0.7, 0.7, 0.0]
unitTestSim.AddVariableForLogging('InertialUKF.covar', testProcessRate*10, 0, 35, 'double')
unitTestSim.AddVariableForLogging('InertialUKF.state', testProcessRate*10, 0, 5, 'double')
unitTestSim.InitializeSimulation()
for i in range(20000):
if i > 21:
stMessage1.timeTag = int(i*0.5*1E9)
stMessage2.timeTag = int(i*0.5*1E9)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[0].stInMsgName,
inputMessageSize,
unitTestSim.TotalSim.CurrentNanos,
stMessage1)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[1].stInMsgName,
inputMessageSize,
unitTestSim.TotalSim.CurrentNanos,
stMessage2)
unitTestSim.ConfigureStopTime(macros.sec2nano((i+1)*0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
accuracy = 1.0E-5
unitTestSupport.writeTeXSnippet("toleranceValue11", str(accuracy), path)
for i in range(3):
if(covarLog[-1, i*6+1+i] > covarLog[0, i*6+1+i]):
testFailCount += 1
testMessages.append("Covariance update failure")
unitTestSupport.writeTeXSnippet('passFail11', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail11', textSnippetPassed, path)
if(abs(stateLog[-1, i+1] - stMessage1.MRP_BdyInrtl[i]) > accuracy):
print(abs(stateLog[-1, i+1] - stMessage1.MRP_BdyInrtl[i]))
testFailCount += 1
testMessages.append("State update failure")
unitTestSupport.writeTeXSnippet('passFail11', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail11', textSnippetPassed, path)
stMessage1.MRP_BdyInrtl = [1.2, 0.0, 0.0]
stMessage2.MRP_BdyInrtl = [1.2, 0.0, 0.0]
for i in range(20000):
if i > 20:
stMessage1.timeTag = int((i+20000)*0.25*1E9)
stMessage2.timeTag = int((i+20000)*0.5*1E9)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[0].stInMsgName,
inputMessageSize,
unitTestSim.TotalSim.CurrentNanos,
stMessage1)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[1].stInMsgName,
inputMessageSize,
unitTestSim.TotalSim.CurrentNanos,
stMessage2)
unitTestSim.ConfigureStopTime(macros.sec2nano((i+20000+1)*0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
for i in range(3):
if(covarLog[-1, i*6+1+i] > covarLog[0, i*6+1+i]):
testFailCount += 1
testMessages.append("Covariance update large failure")
unitTestSupport.writeTeXSnippet('passFail11', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail11', textSnippetPassed, path)
plt.figure()
for i in range(moduleConfig.numStates):
plt.plot(stateLog[:,0]*1.0E-9, stateLog[:,i+1], label='State_' +str(i))
plt.legend()
plt.ylim([-1, 1])
unitTestSupport.writeFigureLaTeX('Test11', 'Test 1 State convergence', plt, 'width=0.9\\textwidth, keepaspectratio', path)
plt.figure()
for i in range(moduleConfig.numStates):
plt.plot(covarLog[:,0]*1.0E-9, covarLog[:,i*moduleConfig.numStates+i+1], label='Covar_' +str(i))
plt.legend()
plt.ylim([0, 2.E-7])
unitTestSupport.writeFigureLaTeX('Test12', 'Test 1 Covariance convergence', plt, 'width=0.9\\textwidth, keepaspectratio', path)
if(show_plots):
plt.show()
plt.close('all')
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag + " state update")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
[docs]def test_StatePropInertialAttitude(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = alg_contain.AlgContain(moduleConfig,
inertialUKF.Update_inertialUKF,
inertialUKF.SelfInit_inertialUKF,
inertialUKF.CrossInit_inertialUKF,
inertialUKF.Reset_inertialUKF)
moduleWrap.ModelTag = "InertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
setupFilterData(moduleConfig)
vehicleConfigOut = inertialUKF.VehicleConfigFswMsg()
inputMessageSize = vehicleConfigOut.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.massPropsInMsgName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
unitTestSim.TotalSim.WriteMessageData(moduleConfig.massPropsInMsgName,
inputMessageSize,
0,
vehicleConfigOut)
unitTestSim.AddVariableForLogging('InertialUKF.covar', testProcessRate*10, 0, 35)
unitTestSim.AddVariableForLogging('InertialUKF.state', testProcessRate*10, 0, 5)
unitTestSim.InitializeSimulation()
unitTestSim.ConfigureStopTime(macros.sec2nano(8000.0))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
accuracy = 1.0E-10
unitTestSupport.writeTeXSnippet("toleranceValue22", str(accuracy), path)
for i in range(6):
if(abs(stateLog[-1, i+1] - stateLog[0, i+1]) > accuracy):
print(abs(stateLog[-1, i+1] - stateLog[0, i+1]))
testFailCount += 1
testMessages.append("State propagation failure")
unitTestSupport.writeTeXSnippet('passFail22', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail22', textSnippetPassed, path)
for i in range(6):
if(covarLog[-1, i*6+i+1] <= covarLog[0, i*6+i+1]):
testFailCount += 1
testMessages.append("State covariance failure")
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag + " state propagation")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
[docs]def test_StateUpdateRWInertialAttitude(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = alg_contain.AlgContain(moduleConfig,
inertialUKF.Update_inertialUKF,
inertialUKF.SelfInit_inertialUKF,
inertialUKF.CrossInit_inertialUKF,
inertialUKF.Reset_inertialUKF)
moduleWrap.ModelTag = "InertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
setupFilterData(moduleConfig)
vehicleConfigOut = inertialUKF.VehicleConfigFswMsg()
inputMessageSize = vehicleConfigOut.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.massPropsInMsgName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
unitTestSim.TotalSim.WriteMessageData(moduleConfig.massPropsInMsgName,
inputMessageSize,
0,
vehicleConfigOut)
rwArrayConfigOut = inertialUKF.RWArrayConfigFswMsg()
msgSize = rwArrayConfigOut.getStructSize()
rwArrayConfigOut.numRW = 3
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.rwParamsInMsgName,
msgSize,
2) # number of buffers (leave at 2 as default, don't make zero)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.rwParamsInMsgName,
msgSize,
0,
rwArrayConfigOut)
rwSpeedIntMsg = inertialUKF.RWSpeedIntMsg()
msgSize = rwSpeedIntMsg.getStructSize()
rwSpeedIntMsg.wheelSpeeds = [0.1, 0.01, 0.1]
rwSpeedIntMsg.wheelThetas = [0.,0.,0.]
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.rwSpeedsInMsgName,
msgSize,
2) # number of buffers (leave at 2 as default, don't make zero)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.rwSpeedsInMsgName,
msgSize,
0,
rwSpeedIntMsg)
stMessage1 = inertialUKF.STAttFswMsg()
stMessage1.MRP_BdyInrtl = [0.3, 0.4, 0.5]
inputMessageSize = stMessage1.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.STDatasStruct.STMessages[0].stInMsgName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
stMessage2 = inertialUKF.STAttFswMsg()
stMessage2.MRP_BdyInrtl = [0.3, 0.4, 0.5]
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.STDatasStruct.STMessages[1].stInMsgName,
inputMessageSize,
2)
# stateTarget = testVector.tolist()
# stateTarget.extend([0.0, 0.0, 0.0])
# moduleConfig.state = [0.7, 0.7, 0.0]
unitTestSim.AddVariableForLogging('InertialUKF.covar', testProcessRate * 10, 0, 35, 'double')
unitTestSim.AddVariableForLogging('InertialUKF.state', testProcessRate * 10, 0, 5, 'double')
unitTestSim.InitializeSimulation()
for i in range(20000):
if i > 20:
stMessage1.timeTag = int(i * 0.5 * 1E9)
stMessage2.timeTag = int(i * 0.5 * 1E9)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[0].stInMsgName,
inputMessageSize,
unitTestSim.TotalSim.CurrentNanos,
stMessage1)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[1].stInMsgName,
inputMessageSize,
unitTestSim.TotalSim.CurrentNanos,
stMessage2)
if i==10000:
rwSpeedIntMsg.wheelSpeeds = [0.5, 0.1, 0.05]
unitTestSim.TotalSim.WriteMessageData(moduleConfig.rwSpeedsInMsgName,
msgSize,
0,
rwSpeedIntMsg)
unitTestSim.ConfigureStopTime(macros.sec2nano((i + 1) * 0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
accuracy = 1.0E-5
unitTestSupport.writeTeXSnippet("toleranceValue33", str(accuracy), path)
for i in range(3):
if (covarLog[-1, i * 6 + 1 + i] > covarLog[0, i * 6 + 1 + i]):
testFailCount += 1
testMessages.append("Covariance update with RW failure")
if (abs(stateLog[-1, i + 1] - stMessage1.MRP_BdyInrtl[i]) > accuracy):
print(abs(stateLog[-1, i + 1] - stMessage1.MRP_BdyInrtl[i]))
testFailCount += 1
testMessages.append("State update with RW failure")
unitTestSupport.writeTeXSnippet('passFail33', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail33', textSnippetPassed, path)
stMessage1.MRP_BdyInrtl = [1.2, 0.0, 0.0]
stMessage2.MRP_BdyInrtl = [1.2, 0.0, 0.0]
for i in range(20000):
if i > 20:
stMessage1.timeTag = int((i + 20000) * 0.25 * 1E9)
stMessage2.timeTag = int((i + 20000) * 0.5 * 1E9)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[0].stInMsgName,
inputMessageSize,
unitTestSim.TotalSim.CurrentNanos,
stMessage1)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[1].stInMsgName,
inputMessageSize,
unitTestSim.TotalSim.CurrentNanos,
stMessage2)
unitTestSim.ConfigureStopTime(macros.sec2nano((i + 20000 + 1) * 0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
stateLog = unitTestSim.GetLogVariableData('InertialUKF.state')
for i in range(3):
if (covarLog[-1, i * 6 + 1 + i] > covarLog[0, i * 6 + 1 + i]):
testFailCount += 1
testMessages.append("Covariance update large failure")
unitTestSupport.writeTeXSnippet('passFail33', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail33', textSnippetPassed, path)
plt.figure()
for i in range(moduleConfig.numStates):
plt.plot(stateLog[:, 0] * 1.0E-9, stateLog[:, i + 1], label='State_' +str(i))
plt.legend()
plt.ylim([-1, 1])
unitTestSupport.writeFigureLaTeX('Test31', 'Test 3 State convergence', plt, 'width=0.7\\textwidth, keepaspectratio', path)
plt.figure()
for i in range(moduleConfig.numStates):
plt.plot(covarLog[:, 0] * 1.0E-9, covarLog[:, i * moduleConfig.numStates + i + 1], label='Covar_' +str(i))
plt.legend()
plt.ylim([0., 2E-7])
unitTestSupport.writeFigureLaTeX('Test32', 'Test 3 Covariance convergence', plt, 'width=0.7\\textwidth, keepaspectratio', path)
if (show_plots):
plt.show()
plt.close('all')
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag + " state update with RW")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
[docs]def test_StatePropRateInertialAttitude(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Construct algorithm and associated C++ container
moduleConfig = inertialUKF.InertialUKFConfig()
moduleWrap = alg_contain.AlgContain(moduleConfig,
inertialUKF.Update_inertialUKF,
inertialUKF.SelfInit_inertialUKF,
inertialUKF.CrossInit_inertialUKF,
inertialUKF.Reset_inertialUKF)
moduleWrap.ModelTag = "InertialUKF"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleWrap, moduleConfig)
moduleConfig.navStateOutMsgName = "inertial_state_estimate"
moduleConfig.filtDataOutMsgName = "inertial_filter_data"
moduleConfig.massPropsInMsgName = "adcs_config_data"
moduleConfig.rwSpeedsInMsgName = "reactionwheel_output_states"
moduleConfig.rwParamsInMsgName = "rwa_config_data_parsed"
moduleConfig.gyrBuffInMsgName = "gyro_buffer_data"
moduleConfig.alpha = 0.02
moduleConfig.beta = 2.0
moduleConfig.kappa = 0.0
moduleConfig.switchMag = 1.2
moduleConfig.stateInit = [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
moduleConfig.covarInit = [0.04, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.04, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.04, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.004, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.004, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.004]
qNoiseIn = numpy.identity(6)
qNoiseIn[0:3, 0:3] = qNoiseIn[0:3, 0:3] * 0.0017 * 0.0017
qNoiseIn[3:6, 3:6] = qNoiseIn[3:6, 3:6] * 0.00017 * 0.00017
moduleConfig.qNoise = qNoiseIn.reshape(36).tolist()
ST1Data = inertialUKF.STMessage()
ST1Data.stInMsgName = "star_tracker_1_data"
ST1Data.noise = [0.00017 * 0.00017, 0.0, 0.0,
0.0, 0.00017 * 0.00017, 0.0,
0.0, 0.0, 0.00017 * 0.00017]
STList = [ST1Data]
moduleConfig.STDatasStruct.STMessages = STList
moduleConfig.STDatasStruct.numST = len(STList)
lpDataUse = inertialUKF.LowPassFilterData()
lpDataUse.hStep = 0.5
lpDataUse.omegCutoff = 15.0 / (2.0 * math.pi)
moduleConfig.gyroFilt = [lpDataUse, lpDataUse, lpDataUse]
vehicleConfigOut = inertialUKF.VehicleConfigFswMsg()
inputMessageSize = vehicleConfigOut.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.massPropsInMsgName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
I = [1000., 0., 0.,
0., 800., 0.,
0., 0., 800.]
vehicleConfigOut.ISCPntB_B = I
unitTestSim.TotalSim.WriteMessageData(moduleConfig.massPropsInMsgName,
inputMessageSize,
0,
vehicleConfigOut)
stateInit = [0.0, 0.0, 0.0, math.pi/18.0, 0.0, 0.0]
moduleConfig.stateInit = stateInit
unitTestSim.AddVariableForLogging('InertialUKF.covar', testProcessRate*10, 0, 35)
unitTestSim.AddVariableForLogging('InertialUKF.sigma_BNOut', testProcessRate*10, 0, 2)
unitTestSim.AddVariableForLogging('InertialUKF.omega_BN_BOut', testProcessRate*10, 0, 2)
unitTestSim.InitializeSimulation()
stMessage1 = inertialUKF.STAttFswMsg()
stMessage1.MRP_BdyInrtl = [0., 0., 0.]
inputMessageSize = stMessage1.getStructSize()
unitTestSim.TotalSim.CreateNewMessage(unitProcessName,
moduleConfig.STDatasStruct.STMessages[0].stInMsgName,
inputMessageSize,
2) # number of buffers (leave at 2 as default, don't make zero)
stMessage1.timeTag = int(1* 1E9)
unitTestSim.TotalSim.WriteMessageData(moduleConfig.STDatasStruct.STMessages[0].stInMsgName,
inputMessageSize,
int(1 * 1E9),
stMessage1)
gyroBufferData = inertialUKF.AccDataFswMsg()
for i in range(3600*2+1):
gyroBufferData.accPkts[i%inertialUKF.MAX_ACC_BUF_PKT].measTime = (int(i*0.5*1E9))
gyroBufferData.accPkts[i%inertialUKF.MAX_ACC_BUF_PKT].gyro_B = \
[math.pi/18.0, 0.0, 0.0]
unitTestSim.TotalSim.WriteMessageData(moduleConfig.gyrBuffInMsgName,
gyroBufferData.getStructSize(),
(int(i*0.5*1E9)),
gyroBufferData)
unitTestSim.ConfigureStopTime(macros.sec2nano((i+1)*0.5))
unitTestSim.ExecuteSimulation()
covarLog = unitTestSim.GetLogVariableData('InertialUKF.covar')
sigmaLog = unitTestSim.GetLogVariableData('InertialUKF.sigma_BNOut')
omegaLog = unitTestSim.GetLogVariableData('InertialUKF.omega_BN_BOut')
accuracy = 1.0E-3
unitTestSupport.writeTeXSnippet("toleranceValue44", str(accuracy), path)
for i in range(3):
if(abs(omegaLog[-1, i+1] - stateInit[i+3]) > accuracy):
print(abs(omegaLog[-1, i+1] - stateInit[i+3]))
testFailCount += 1
testMessages.append("State omega propagation failure")
unitTestSupport.writeTeXSnippet('passFail44', textSnippetFailed, path)
else:
unitTestSupport.writeTeXSnippet('passFail44', textSnippetPassed, path)
for i in range(6):
if(covarLog[-1, i*6+i+1] <= covarLog[0, i*6+i+1]):
testFailCount += 1
testMessages.append("State covariance failure")
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: " + moduleWrap.ModelTag + " state rate propagation")
else:
print("Failed: " + testMessages[0])
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
[docs]def test_FaultScenarios(show_plots):
"""Module Unit Test"""
# The __tracebackhide__ setting influences pytest showing of tracebacks:
# the mrp_steering_tracking() function will not be shown unless the
# --fulltrace command line option is specified.
__tracebackhide__ = True
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty list to store test log messages
unitTaskName = "unitTask" # arbitrary name (don't change)
unitProcessName = "TestProcess" # arbitrary name (don't change)
# Create a sim module as an empty container
unitTestSim = SimulationBaseClass.SimBaseClass()
# Create test thread
testProcessRate = macros.sec2nano(0.5) # update process rate update time
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# Clean methods for Measurement and Time Updates
moduleConfigClean1 = inertialUKF.InertialUKFConfig()
moduleConfigClean1.numStates = 6
moduleConfigClean1.state = [0., 0., 0., 0., 0., 0.]
moduleConfigClean1.statePrev = [0., 0., 0., 0., 0., 0.]
moduleConfigClean1.sBar = [0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.]
moduleConfigClean1.sBarPrev = [1., 0., 0., 0., 0., 0.,
0., 1., 0., 0., 0., 0.,
0., 0., 1., 0., 0., 0.,
0., 0., 0., 1., 0., 0.,
0., 0., 0., 0., 1., 0.,
0., 0., 0., 0., 0., 1.]
moduleConfigClean1.covar = [0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.,
0., 0., 0., 0., 0., 0.]
moduleConfigClean1.covarPrev = [2., 0., 0., 0., 0., 0.,
0., 2., 0., 0., 0., 0.,
0., 0., 2., 0., 0., 0.,
0., 0., 0., 2., 0., 0.,
0., 0., 0., 0., 2., 0.,
0., 0., 0., 0., 0., 2.]
inertialUKF.inertialUKFCleanUpdate(moduleConfigClean1)
if numpy.linalg.norm(numpy.array(moduleConfigClean1.covarPrev) - numpy.array(moduleConfigClean1.covar)) > 1E10:
testFailCount += 1
testMessages.append("inertialUKFClean Covar failed")
if numpy.linalg.norm(numpy.array(moduleConfigClean1.statePrev) - numpy.array(moduleConfigClean1.state)) > 1E10:
testFailCount += 1
testMessages.append("inertialUKFClean States failed")
if numpy.linalg.norm(numpy.array(moduleConfigClean1.sBar) - numpy.array(moduleConfigClean1.sBarPrev)) > 1E10:
testFailCount += 1
testMessages.append("inertialUKFClean sBar failed")
# inertialStateProp rate test with time step difference
moduleConfigClean1.rwConfigParams.numRW = 2
moduleConfigClean1.rwSpeeds.wheelSpeeds = [10, 5]
moduleConfigClean1.rwSpeedPrev.wheelSpeeds = [15, 10]
moduleConfigClean1.rwConfigParams.JsList = [1., 1.]
moduleConfigClean1.rwConfigParams.GsMatrix_B = [1., 0., 0., 1., 0., 0.]
moduleConfigClean1.speedDt = 1.
#moduleConfigClean1.IInv = [1., 0., 0., 0., 1., 0., 0., 0., 1.]
# Bad Time and Measurement Update
st1 = inertialUKF.STAttFswMsg()
st1.timeTag = macros.sec2nano(1.)
st1.MRP_BdyInrtl = [0.1, 0.2, 0.3]
ST1Data = inertialUKF.STMessage()
ST1Data.stInMsgName = "star_tracker_1_data"
ST1Data.noise = [1., 0., 0.,
0., 1., 0.,
0., 0., 1.]
STList = [ST1Data]
moduleConfigClean1.navStateOutMsgName = "inertial_state_estimate"
moduleConfigClean1.filtDataOutMsgName = "inertial_filter_data"
moduleConfigClean1.massPropsInMsgName = "adcs_config_data"
moduleConfigClean1.rwSpeedsInMsgName = "reactionwheel_output_states"
moduleConfigClean1.rwParamsInMsgName = "rwa_config_data_parsed"
moduleConfigClean1.gyrBuffInMsgName = "gyro_buffer_data"
moduleConfigClean1.alpha = 0.02
moduleConfigClean1.beta = 2.0
moduleConfigClean1.kappa = 0.0
moduleConfigClean1.switchMag = 1.2
moduleConfigClean1.countHalfSPs = moduleConfigClean1.numStates
moduleConfigClean1.STDatasStruct.STMessages = STList
moduleConfigClean1.STDatasStruct.numST = len(STList)
moduleConfigClean1.wC = [-1] * (moduleConfigClean1.numStates * 2 + 1)
moduleConfigClean1.wM = [-1] * (moduleConfigClean1.numStates * 2 + 1)
retTime = inertialUKF.inertialUKFTimeUpdate(moduleConfigClean1, 1)
retMease = inertialUKF.inertialUKFMeasUpdate(moduleConfigClean1, 1)
if retTime == 0:
testFailCount += 1
testMessages.append("Failed to catch bad Update and clean in Time update")
if retMease == 0:
testFailCount += 1
testMessages.append("Failed to catch bad Update and clean in Meas update")
moduleConfigClean1.wC = [1] * (moduleConfigClean1.numStates * 2 + 1)
moduleConfigClean1.wM = [1] * (moduleConfigClean1.numStates * 2 + 1)
qNoiseIn = numpy.identity(6)
qNoiseIn[0:3, 0:3] = -qNoiseIn[0:3, 0:3] * 0.0017 * 0.0017
qNoiseIn[3:6, 3:6] = -qNoiseIn[3:6, 3:6] * 0.00017 * 0.00017
moduleConfigClean1.qNoise = qNoiseIn.reshape(36).tolist()
retTime = inertialUKF.inertialUKFTimeUpdate(moduleConfigClean1, 1)
retMease = inertialUKF.inertialUKFMeasUpdate(moduleConfigClean1, 1)
if retTime == 0:
testFailCount += 1
testMessages.append("Failed to catch bad Update and clean in Time update")
if retMease == 0:
testFailCount += 1
testMessages.append("Failed to catch bad Update and clean in Meas update")
# print out success message if no error were found
if testFailCount == 0:
print("PASSED: state rate propagation")
# return fail count and join into a single string all messages in the list
# testMessage
return [testFailCount, ''.join(testMessages)]
if __name__ == "__main__":
test_FilterMethods()