Updating orientation_filter test file

Updating orientation_filter test file based on changes made on the
orientation filter class and implementation after RD-PQ testing.

Change-Id: Ice0c3d62bc4a67539fed4890583928566087d035

diff --git a/src/sensor_fusion/standalone/test/orientation_filter_test/orientation_filter_main.cpp b/src/sensor_fusion/standalone/test/orientation_filter_test/orientation_filter_main.cpp
index 5273904d514d9f382306d1df05b2542d58c0c0d7..99bb3d9ccc9542ba11f4eb484711382ef3e70a1f 100644 (file)
--- a/src/sensor_fusion/standalone/test/orientation_filter_test/orientation_filter_main.cpp
+++ b/src/sensor_fusion/standalone/test/orientation_filter_test/orientation_filter_main.cpp
@@ -27,6 +27,30 @@ using namespace std;
 #define ORIENTATION_DATA_PATH "../../../design/data/100ms/orientation/roll_pitch_yaw/"
 #define ORIENTATION_DATA_SIZE 1095
 
+float bias_accel[] = {0.098586, 0.18385, (10.084 - GRAVITY)};
+float bias_gyro[] = {-5.3539, 0.24325, 2.3391};
+float bias_magnetic[] = {0, 0, 0};
+int sign_accel[] = {+1, +1, +1};
+int sign_gyro[] = {+1, +1, +1};
+int sign_magnetic[] = {+1, +1, +1};
+float scale_accel = 1;
+float scale_gyro = 575;
+float scale_magnetic = 1;
+
+int pitch_phase_compensation = -1;
+int roll_phase_compensation = -1;
+int yaw_phase_compensation = -1;
+int magnetic_alignment_factor = -1;
+
+void pre_process_data(sensor_data<float> &data_out, sensor_data<float> &data_in, float *bias, int *sign, float scale)
+{
+       data_out.m_data.m_vec[0] = sign[0] * (data_in.m_data.m_vec[0] - bias[0]) / scale;
+       data_out.m_data.m_vec[1] = sign[1] * (data_in.m_data.m_vec[1] - bias[1]) / scale;
+       data_out.m_data.m_vec[2] = sign[2] * (data_in.m_data.m_vec[2] - bias[2]) / scale;
+
+       data_out.m_time_stamp = data_in.m_time_stamp;
+}
+
 int main()
 {
        int data_available = ORIENTATION_DATA_SIZE;
@@ -55,8 +79,6 @@ int main()
                time_stamp = strtoull (token, NULL, 10);
                sensor_data<float> accel_data(sdata[0], sdata[1], sdata[2], time_stamp);
 
-               cout << "Accel Data\t" << accel_data.m_data << "\t Time Stamp\t" << accel_data.m_time_stamp << "\n\n";
-
                getline(gyro_in, line_gyro);
                sdata[0] = strtof(line_gyro.c_str(), &token);
                sdata[1] = strtof(token, &token);
@@ -64,8 +86,6 @@ int main()
                time_stamp = strtoull (token, NULL, 10);
                sensor_data<float> gyro_data(sdata[0], sdata[1], sdata[2], time_stamp);
 
-               cout << "Gyro Data\t" << gyro_data.m_data << "\t Time Stamp\t" << gyro_data.m_time_stamp << "\n\n";
-
                getline(mag_in, line_magnetic);
                sdata[0] = strtof(line_magnetic.c_str(), &token);
                sdata[1] = strtof(token, &token);
@@ -73,8 +93,21 @@ int main()
                time_stamp = strtoull (token, NULL, 10);
                sensor_data<float> magnetic_data(sdata[0], sdata[1], sdata[2], time_stamp);
 
+               pre_process_data(accel_data, accel_data, bias_accel, sign_accel, scale_accel);
+               normalize(accel_data);
+               pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
+               pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
+               normalize(magnetic_data);
+
+               cout << "Accel Data\t" << accel_data.m_data << "\t Time Stamp\t" << accel_data.m_time_stamp << "\n\n";
+               cout << "Gyro Data\t" << gyro_data.m_data << "\t Time Stamp\t" << gyro_data.m_time_stamp << "\n\n";
                cout << "Magnetic Data\t" << magnetic_data.m_data << "\t Time Stamp\t" << magnetic_data.m_time_stamp << "\n\n";
 
+               orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
+               orien_filter.m_roll_phase_compensation = roll_phase_compensation;
+               orien_filter.m_yaw_phase_compensation = yaw_phase_compensation;
+               orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor;
+
                orientation = orien_filter.get_orientation(accel_data, gyro_data, magnetic_data);
 
                orien_file << orientation.m_ang;