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Added filter unit test and tidied filter code

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This commit is contained in:
Martin Budden 2016-10-17 14:15:02 +01:00
parent eef0d7a761
commit 01be3842c8
6 changed files with 190 additions and 97 deletions
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147
src/test/unit/common_filter_unittest.cc Normal file
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include <stdbool.h>
#include <limits.h>
#include <math.h>
extern "C" {
#include "common/filter.h"
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
TEST(FilterUnittest, TestFirFilterInit)
{
#define BUFLEN 4
float buf[BUFLEN];
firFilter_t filter;
firFilterInit(&filter, buf, BUFLEN, NULL);
EXPECT_EQ(buf, filter.buf);
EXPECT_EQ(0, filter.coeffs);
EXPECT_EQ(0, filter.movingSum);
EXPECT_EQ(0, filter.index);
EXPECT_EQ(0, filter.count);
EXPECT_EQ(BUFLEN, filter.bufLength);
EXPECT_EQ(BUFLEN, filter.coeffsLength);
}
TEST(FilterUnittest, TestFirFilterUpdateAverage)
{
#define BUFLEN 4
float buf[BUFLEN];
const float coeffs[BUFLEN] = {1.0f, 1.0f, 1.0f, 1.0f};
firFilter_t filter;
firFilterInit(&filter, buf, BUFLEN, coeffs);
firFilterUpdateAverage(&filter, 2.0f);
EXPECT_FLOAT_EQ(2.0f, filter.buf[0]);
EXPECT_FLOAT_EQ(2.0f, filter.movingSum);
EXPECT_EQ(1, filter.index);
EXPECT_EQ(1, filter.count);
EXPECT_EQ(2.0f, firFilterCalcMovingAverage(&filter));
EXPECT_FLOAT_EQ(2.0f, firFilterCalcPartialAverage(&filter, 1));
EXPECT_FLOAT_EQ(2.0f, firFilterApply(&filter));
firFilterUpdateAverage(&filter, 3.0f);
EXPECT_FLOAT_EQ(3.0f, filter.buf[1]);
EXPECT_FLOAT_EQ(5.0f, filter.movingSum);
EXPECT_EQ(2, filter.index);
EXPECT_EQ(2, filter.count);
EXPECT_EQ(2.5f, firFilterCalcMovingAverage(&filter));
EXPECT_FLOAT_EQ(2.5f, firFilterCalcPartialAverage(&filter, 2));
EXPECT_FLOAT_EQ(5.0f, firFilterApply(&filter));
firFilterUpdateAverage(&filter, 4.0f);
EXPECT_FLOAT_EQ(4.0f, filter.buf[2]);
EXPECT_FLOAT_EQ(9.0f, filter.movingSum);
EXPECT_EQ(3, filter.index);
EXPECT_EQ(3, filter.count);
EXPECT_EQ(3.0f, firFilterCalcMovingAverage(&filter));
EXPECT_FLOAT_EQ(3.0f, firFilterCalcPartialAverage(&filter, 3));
EXPECT_FLOAT_EQ(9.0f, firFilterApply(&filter));
firFilterUpdateAverage(&filter, 5.0f);
EXPECT_FLOAT_EQ(5.0f, filter.buf[3]);
EXPECT_FLOAT_EQ(14.0f, filter.movingSum);
EXPECT_EQ(0, filter.index);
EXPECT_EQ(4, filter.count);
EXPECT_EQ(3.5f, firFilterCalcMovingAverage(&filter));
EXPECT_FLOAT_EQ(3.5f, firFilterCalcPartialAverage(&filter, 4));
EXPECT_FLOAT_EQ(14.0f, firFilterApply(&filter));
firFilterUpdateAverage(&filter, 6.0f);
EXPECT_FLOAT_EQ(6.0f, filter.buf[0]);
EXPECT_FLOAT_EQ(18.0f, filter.movingSum);
EXPECT_EQ(1, filter.index);
EXPECT_EQ(BUFLEN, filter.count);
EXPECT_EQ(4.5f, firFilterCalcMovingAverage(&filter));
EXPECT_FLOAT_EQ(4.5f, firFilterCalcPartialAverage(&filter, BUFLEN));
EXPECT_FLOAT_EQ(18.0f, firFilterApply(&filter));
firFilterUpdateAverage(&filter, 7.0f);
EXPECT_FLOAT_EQ(7.0f, filter.buf[1]);
EXPECT_FLOAT_EQ(22.0f, filter.movingSum);
EXPECT_EQ(2, filter.index);
EXPECT_EQ(BUFLEN, filter.count);
EXPECT_EQ(5.5f, firFilterCalcMovingAverage(&filter));
EXPECT_FLOAT_EQ(5.5f, firFilterCalcPartialAverage(&filter, BUFLEN));
EXPECT_FLOAT_EQ(22.0f, firFilterApply(&filter));
}
TEST(FilterUnittest, TestFirFilterApply)
{
#define BUFLEN 4
float buf[BUFLEN];
firFilter_t filter;
const float coeffs[BUFLEN] = {26.0f, 27.0f, 28.0f, 29.0f};
float expected = 0.0f;
firFilterInit(&filter, buf, BUFLEN, coeffs);
firFilterUpdate(&filter, 2.0f);
expected = 2.0f * 26.0f;
EXPECT_FLOAT_EQ(expected, firFilterApply(&filter));
firFilterUpdate(&filter, 3.0f);
expected = 3.0f * 26.0f + 2.0 * 27.0;
EXPECT_FLOAT_EQ(expected, firFilterApply(&filter));
firFilterUpdate(&filter, 4.0f);
expected = 4.0f * 26.0f + 3.0 * 27.0 + 2.0 * 28.0;
EXPECT_FLOAT_EQ(expected, firFilterApply(&filter));
firFilterUpdate(&filter, 5.0f);
expected = 5.0f * 26.0f + 4.0 * 27.0 + 3.0 * 28.0 + 2.0f * 29.0f;
EXPECT_FLOAT_EQ(expected, firFilterApply(&filter));
firFilterUpdate(&filter, 6.0f);
expected = 6.0f * 26.0f + 5.0 * 27.0 + 4.0 * 28.0 + 3.0f * 29.0f;
EXPECT_FLOAT_EQ(expected, firFilterApply(&filter));
firFilterUpdate(&filter, 7.0f);
expected = 7.0f * 26.0f + 6.0 * 27.0 + 5.0 * 28.0 + 4.0f * 29.0f;
EXPECT_FLOAT_EQ(expected, firFilterApply(&filter));
}