zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

GNSS yaw tests: adjust timing 

the starting condition needs more than 1 sample to determine if the data
comes regularly

the timeout on "no data" is defined by the fusion reset timeout
parameter (7 seconds)
master
bresch 4 years ago committed by Paul Riseborough
parent
51197a5d82
commit
7a11871566
1 changed files with 2 additions and 2 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      test/test_EKF_gps_yaw.cpp

4
test/test_EKF_gps_yaw.cpp
Unescape View File

@ -105,7 +105,7 @@ TEST_F(EkfGpsHeadingTest, fusionStartWithReset)
_sensor_simulator._gps.setYaw(gps_heading); _sensor_simulator._gps.setYaw(gps_heading);
_ekf_wrapper.enableGpsHeadingFusion(); _ekf_wrapper.enableGpsHeadingFusion();
const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
_sensor_simulator.runSeconds(0.2); _sensor_simulator.runSeconds(0.4);
// THEN: GPS heading fusion should have started; // THEN: GPS heading fusion should have started;
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion());
@ -203,7 +203,7 @@ TEST_F(EkfGpsHeadingTest, fallBackToMag)
// BUT WHEN: the GPS yaw is suddenly invalid // BUT WHEN: the GPS yaw is suddenly invalid
gps_heading = NAN; gps_heading = NAN;
_sensor_simulator._gps.setYaw(gps_heading); _sensor_simulator._gps.setYaw(gps_heading);
_sensor_simulator.runSeconds(6); _sensor_simulator.runSeconds(7.5);
// THEN: after a few seconds, the fusion should stop and // THEN: after a few seconds, the fusion should stop and
// the estimator should fall back to mag fusion // the estimator should fall back to mag fusion

Write Preview
Loading…
Cancel
Save