From 1b1c049e81eed8f6fb1a9be8dabceebf74f3851d Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 8 Jan 2021 09:09:32 +1100 Subject: [PATCH] test: Update unit test to match expected behaviour --- test/test_EKF_initialization.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/test/test_EKF_initialization.cpp b/test/test_EKF_initialization.cpp index 2158c765ae..4c3f4ba74d 100644 --- a/test/test_EKF_initialization.cpp +++ b/test/test_EKF_initialization.cpp @@ -120,17 +120,12 @@ class EkfInitializationTest : public ::testing::Test { { const Dcmf R_to_earth = Dcmf(_ekf->getQuaternion()); const Vector3f dvel_bias_var = _ekf_wrapper.getDeltaVelBiasVariance(); - const Vector3f accel_bias = _ekf->getAccelBias(); for (int i = 0; i < 3; i++){ if (fabsf(R_to_earth(2, i)) > 0.8f) { // Highly observable, the variance decreases EXPECT_LT(dvel_bias_var(i), 4.0e-6f) << "axis " << i; - } else { - // Poorly observable, the variance is set to 0 - EXPECT_FLOAT_EQ(dvel_bias_var(i), 0.f) << "axis" << i; - EXPECT_FLOAT_EQ(accel_bias(i), 0.f) << "axis" << i; } } }