Merge pull request #1322 from bitcraze/krichardsson/estimator-py-test

Basic python test for kalman core

.flake8

@@ -0,0 +1,2 @@
+[flake8]
+max-line-length:120

Makefile

@@ -210,7 +210,7 @@ MOD_INC = src/modules/interface
 MOD_SRC = src/modules/src
 
 bindings_python build/cffirmware.py: bindings/setup.py $(MOD_SRC)/*.c
-	swig -python -I$(MOD_INC) -Isrc/hal/interface -Isrc/utils/interface -Isrc/modules/interface/controller -o build/cffirmware_wrap.c bindings/cffirmware.i
+	swig -python -I$(MOD_INC) -Isrc/hal/interface -Isrc/utils/interface -I$(MOD_INC)/controller -Isrc/platform/interface -I$(MOD_INC)/outlierfilter -I$(MOD_INC)/kalman_core -o build/cffirmware_wrap.c bindings/cffirmware.i
 	$(PYTHON) bindings/setup.py build_ext --inplace
 	cp cffirmware_setup.py build/setup.py
 

bindings/cffirmware.i

@@ -20,6 +20,10 @@
 #include "controller_mellinger.h"
 #include "controller_brescianini.h"
 #include "power_distribution.h"
+#include "axis3fSubSampler.h"
+#include "outlierFilterTdoa.h"
+#include "kalman_core.h"
+#include "mm_tdoa.h"
 %}
 
 %include "math3d.h"
@@ -32,6 +36,11 @@
 %include "controller_mellinger.h"
 %include "controller_brescianini.h"
 %include "power_distribution.h"
+%include "axis3fSubSampler.h"
+%include "outlierFilterTdoa.h"
+%include "kalman_core.h"
+%include "mm_tdoa.h"
+
 
 %inline %{
 struct poly4d* piecewise_get(struct piecewise_traj *pp, int i)

bindings/setup.py

@@ -7,6 +7,8 @@
 include = [
     "src/modules/interface",
     "src/modules/interface/controller",
+    "src/modules/interface/kalman_core",
+    "src/modules/interface/outlierfilter",
     "src/hal/interface",
     "src/utils/interface/lighthouse",
     "src/utils/interface",
@@ -44,6 +46,10 @@
     "src/utils/src/num.c",
     "src/modules/src/power_distribution_quadrotor.c",
     # "src/modules/src/power_distribution_flapper.c",
+    "src/modules/src/axis3fSubSampler.c",
+    "src/modules/src/kalman_core/kalman_core.c",
+    "src/modules/src/kalman_core/mm_tdoa.c",
+    "src/modules/src/outlierfilter/outlierFilterTdoa.c",
 ]
 
 cffirmware = Extension(

test_python/fixtures/kalman_core/anchor_positions.yaml

@@ -0,0 +1,32 @@
+0:
+  x: 3.4800000190734863
+  y: -2.799999952316284
+  z: 0.20000000298023224
+1:
+  x: -4.519999980926514
+  y: -2.8299999237060547
+  z: 0.20000000298023224
+2:
+  x: -4.519999980926514
+  y: 4.139999866485596
+  z: 0.20000000298023224
+3:
+  x: 3.0899999141693115
+  y: 4.139999866485596
+  z: 0.20000000298023224
+4:
+  x: 3.0899999141693115
+  y: -3.0799999237060547
+  z: 3.049999952316284
+5:
+  x: -4.050000190734863
+  y: -3.0799999237060547
+  z: 3.049999952316284
+6:
+  x: -4.050000190734863
+  y: 3.680000066757202
+  z: 3.049999952316284
+7:
+  x: 3.0899999141693115
+  y: 3.559999942779541
+  z: 3.049999952316284

test_python/test_kalman_core.py

@@ -0,0 +1,199 @@
+#!/usr/bin/env python
+
+import yaml
+import cffirmware
+import tools.usdlog.cfusdlog as cfusdlog
+import math
+import numpy as np
+
+def test_kalman_core_with_tdoa3():
+    # Fixture
+    fixture_base = 'test_python/fixtures/kalman_core'
+    anchor_positions = read_loco_anchor_positions(fixture_base + '/anchor_positions.yaml')
+    sensor_samples = read_sensor_data_sorted(fixture_base + '/log05')
+    emulator = EstimatorKalmanEmulator(anchor_positions)
+
+    # Test
+    actual = emulator.run_estimator_loop(sensor_samples)
+
+    # Assert
+    # Verify that the final position is close-ish to (0, 0, 0)
+    actual_final_pos = np.array(actual[-1][1])
+    assert np.linalg.norm(actual_final_pos - [0.0, 0.0, 0.0]) < 0.4
+
+
+## Helpers ###########################
+
+def read_loco_anchor_positions(file_name: str) -> dict[int, cffirmware.vec3_s]:
+    """
+    Read anchor position data from a file exported from the client.
+
+    Args:
+        file_name (str): The name of the file
+
+    Returns:
+        dict[int, cffirmware.vec3_s]: A dictionary from anchor id to a 3D-vector
+    """
+    result = {}
+
+    with open(file_name, 'r') as file:
+        data = yaml.safe_load(file)
+        for id, vals in data.items():
+            point = cffirmware.vec3_s()
+            point.x = vals['x']
+            point.y = vals['y']
+            point.z = vals['z']
+            result[id] = point
+
+    return result
+
+
+def read_sensor_data_sorted(file_name: str):
+    """Read sensor data from a file recorded using the uSD-card on a Crazyflie
+
+    Args:
+        file_name: The name of the file with recorded data
+
+    Returns:
+        _type_: A list of sensor samples, sorted in time order. The first field of each row identifies the sensor
+        that produced the sample
+    """
+    log_data = cfusdlog.decode(file_name)
+
+    samples = []
+    for log_type, data in log_data.items():
+        for i in range(len(data['timestamp'])):
+            sample_data = {}
+            for name, data_list in data.items():
+                sample_data[name] = data_list[i]
+            samples.append((log_type, sample_data))
+
+    samples.sort(key=lambda x: x[1]['timestamp'])
+    return samples
+
+
+class EstimatorKalmanEmulator:
+    """
+    This class emulates the behavior of estimator_kalman.c and is used as a helper to enable testing of the kalman
+    core functionatlity. Estimator_kalman.c is tightly coupled to FreeRTOS (using
+    tasks for instance) and can not really be tested on this level, instead this class can be used to drive the
+    kalman core functionlity.
+    """
+    def __init__(self, anchor_positions) -> None:
+        self.anchor_positions = anchor_positions
+        self.accSubSampler = cffirmware.Axis3fSubSampler_t()
+        self.gyroSubSampler = cffirmware.Axis3fSubSampler_t()
+        self.coreData = cffirmware.kalmanCoreData_t()
+        self.outlierFilterState = cffirmware.OutlierFilterTdoaState_t()
+
+        self.TDOA_ENGINE_MEASUREMENT_NOISE_STD = 0.30
+        self.PREDICT_RATE = 100
+        self.PREDICT_STEP_MS = 1000 / self.PREDICT_RATE
+
+    def run_estimator_loop(self, sensor_samples):
+        """
+        Emulation of the main loop in estimator_kalman.c
+
+        Args:
+            sensor_samples: Ordered list of sensor samples
+
+        Returns:
+            estimated positions: A list of tuples containing the time and estimated position
+        """
+        start_index = 0
+        os_time_first_ms = int(sensor_samples[start_index][1]['timestamp'])
+        now_ms = os_time_first_ms
+        next_prediction_ms = now_ms + self.PREDICT_STEP_MS
+
+        GRAVITY_MAGNITUDE = 9.81
+        DEG_TO_RAD = math.pi / 180.0
+        cffirmware.axis3fSubSamplerInit(self.accSubSampler, GRAVITY_MAGNITUDE)
+        cffirmware.axis3fSubSamplerInit(self.gyroSubSampler, DEG_TO_RAD)
+
+        coreParams = cffirmware.kalmanCoreParams_t()
+        cffirmware.kalmanCoreDefaultParams(coreParams)
+        cffirmware.outlierFilterTdoaReset(self.outlierFilterState)
+        cffirmware.kalmanCoreInit(self.coreData, coreParams, now_ms)
+
+        # Simplification, assume always flying
+        quad_is_flying = True
+
+        # Main loop
+        index = start_index
+        result = []
+        while index < len(sensor_samples):
+            if now_ms > next_prediction_ms:
+                cffirmware.axis3fSubSamplerFinalize(self.accSubSampler)
+                cffirmware.axis3fSubSamplerFinalize(self.gyroSubSampler)
+
+                cffirmware.kalmanCorePredict(self.coreData, self.accSubSampler.subSample, self.gyroSubSampler.subSample,
+                                             now_ms, quad_is_flying)
+
+                next_prediction_ms += self.PREDICT_STEP_MS
+
+            cffirmware.kalmanCoreAddProcessNoise(self.coreData, coreParams, now_ms)
+
+            index = self._update_queued_measurements(now_ms, sensor_samples, index)
+
+            cffirmware.kalmanCoreFinalize(self.coreData)
+
+            external_state = cffirmware.state_t()
+            acc_latest = cffirmware.Axis3f()
+            cffirmware.kalmanCoreExternalizeState(self.coreData, external_state, acc_latest)
+            result.append((now_ms, (external_state.position.x, external_state.position.y, external_state.position.z)))
+
+            # Main loop called at 1000 Hz in the firmware
+            now_ms += 1
+
+        return result
+
+    def _update_queued_measurements(self, now_ms: int, sensor_samples, current_index: int) -> int:
+        index = current_index
+        done = False
+
+        while not done:
+            sample = sensor_samples[index]
+            time_ms = int(sample[1]['timestamp'])
+            if time_ms <= now_ms:
+                self._update_with_sample(sample, now_ms)
+
+                index += 1
+                done = index >= len(sensor_samples)
+            else:
+                done = True
+
+        return index
+
+    def _update_with_sample(self, sample, now_ms):
+        if sample[0] == 'estTDOA':
+            tdoa_data = sample[1]
+            tdoa = cffirmware.tdoaMeasurement_t()
+
+            tdoa.anchorIdA = int(tdoa_data['idA'])
+            tdoa.anchorIdB = int(tdoa_data['idB'])
+            tdoa.anchorPositionA = self.anchor_positions[tdoa.anchorIdA]
+            tdoa.anchorPositionB = self.anchor_positions[tdoa.anchorIdB]
+            tdoa.distanceDiff = float(tdoa_data['distanceDiff'])
+            tdoa.stdDev = self.TDOA_ENGINE_MEASUREMENT_NOISE_STD
+
+            cffirmware.kalmanCoreUpdateWithTdoa(self.coreData, tdoa, now_ms, self.outlierFilterState)
+
+        if sample[0] == 'estAcceleration':
+            acc_data = sample[1]
+
+            acc = cffirmware.Axis3f()
+            acc.x = float(acc_data['acc.x'])
+            acc.y = float(acc_data['acc.y'])
+            acc.z = float(acc_data['acc.z'])
+
+            cffirmware.axis3fSubSamplerAccumulate(self.accSubSampler, acc)
+
+        if sample[0] == 'estGyroscope':
+            gyro_data = sample[1]
+
+            gyro = cffirmware.Axis3f()
+            gyro.x = float(gyro_data['gyro.x'])
+            gyro.y = float(gyro_data['gyro.y'])
+            gyro.z = float(gyro_data['gyro.z'])
+
+            cffirmware.axis3fSubSamplerAccumulate(self.gyroSubSampler, gyro)