Update inertialAttitudeUkf unit test

lasp · Sep 30, 2024 · 5be4d1f · 5be4d1f
1 parent 78367c4
commit 5be4d1f
Showing 1 changed file with 17 additions and 2 deletions.
diff --git a/src/fswAlgorithms/attDetermination/inertialAttitudeUkf/tests/test_inertialAttitudeUkf.py b/src/fswAlgorithms/attDetermination/inertialAttitudeUkf/tests/test_inertialAttitudeUkf.py
@@ -20,6 +20,7 @@
 import pytest
 from Basilisk.architecture import messaging
 from Basilisk.fswAlgorithms import inertialAttitudeUkf
+from Basilisk.fswAlgorithms import miruLowPassFilterConverter
 from Basilisk.utilities import SimulationBaseClass, macros
 from Basilisk.utilities import RigidBodyKinematics as rbk
 
@@ -107,6 +108,11 @@ def test_propagation_kf(show_plots):
     test_process = unit_test_sim.CreateNewProcess(unit_process_name)
     test_process.addTask(unit_test_sim.CreateNewTask(unit_task_name, test_process_rate))
 
+    # Create miruLowPassFilterConverter module
+    miru_low_pass_filter_converter = miruLowPassFilterConverter.MiruLowPassFilterConverter()
+    miru_low_pass_filter_converter.setLowPassFilter(0.5, 15/(2*np.pi))
+    unit_test_sim.AddModelToTask(unit_task_name, miru_low_pass_filter_converter)
+
     # Construct algorithm and associated C++ container
     allMeasurements = inertialAttitudeUkf.AttitudeFilterMethod_AllMeasurements
     intertialAttitudeFilter = inertialAttitudeUkf.InertialAttitudeUkf(allMeasurements)
@@ -173,7 +179,7 @@ def test_propagation_kf(show_plots):
 
     accel_data = messaging.AccDataMsgPayload()
     accel_measurement = messaging.AccDataMsg().write(accel_data)
-    intertialAttitudeFilter.accelDataMsg.subscribeTo(accel_measurement)
+    miru_low_pass_filter_converter.imuAccelDataInMsg.subscribeTo(accel_measurement)
 
     attitude_data_log = intertialAttitudeFilter.inertialFilterOutputMsg.recorder()
     unit_test_sim.AddModelToTask(unit_task_name, attitude_data_log)
@@ -226,6 +232,11 @@ def test_measurements_kf(show_plots, initial_error, method):
     test_process = unit_test_sim.CreateNewProcess(unit_process_name)
     test_process.addTask(unit_test_sim.CreateNewTask(unit_task_name, test_process_rate))
 
+    # Create miruLowPassFilterConverter module
+    miru_low_pass_filter_converter = miruLowPassFilterConverter.MiruLowPassFilterConverter()
+    miru_low_pass_filter_converter.setLowPassFilter(0.5, 15/(2*np.pi))
+    unit_test_sim.AddModelToTask(unit_task_name, miru_low_pass_filter_converter)
+
     intertialAttitudeFilter = inertialAttitudeUkf.InertialAttitudeUkf(method)
     unit_test_sim.AddModelToTask(unit_task_name, intertialAttitudeFilter)
 
@@ -292,9 +303,13 @@ def test_measurements_kf(show_plots, initial_error, method):
     star_tracker2.measurementNoise = [[1e-4, 0, 0], [0,1e-4,0], [0,0,1e-4]]
     intertialAttitudeFilter.addStarTrackerInput(star_tracker2)
 
+    imu_sensor_msg = messaging.IMUSensorMsgPayload()
+    imu_sensor_message = messaging.IMUSensorMsg().write(imu_sensor_msg)
+    intertialAttitudeFilter.imuSensorDataInMsg.subscribeTo(imu_sensor_message)
+
     accel_data = messaging.AccDataMsgPayload()
     accel_measurement = messaging.AccDataMsg().write(accel_data)
-    intertialAttitudeFilter.accelDataMsg.subscribeTo(accel_measurement)
+    miru_low_pass_filter_converter.imuAccelDataInMsg.subscribeTo(accel_measurement)
 
     filter_data_log = intertialAttitudeFilter.inertialFilterOutputMsg.recorder()
     unit_test_sim.AddModelToTask(unit_task_name, filter_data_log)