PreFlightChecker: update unit tests

src/modules/ekf2/Utility/PreFlightCheckerTest.cpp

@@ -46,48 +46,52 @@ class PreFlightCheckerTest : public ::testing::Test
 
 TEST_F(PreFlightCheckerTest, testInnovFailed)
 {
-	const float test_limit = 1.0; ///< is the limit for innovation_lpf, the limit for innovation is 2*test_limit
+	const float test_limit = 1.0; ///< is the limit for innovation_lpf
+	const float spike_limit = 2.f * test_limit; ///< is the limit for innovation_lpf
 	const float innovations[9] = 	 {0.0, 1.5, 2.5, -1.5, -2.5, 1.5, -1.5, -2.5, -2.5};
 	const float innovations_lpf[9] = {0.0, 0.9, 0.9, -0.9, -0.9, 1.1, -1.1, -1.1, 1.1};
 	const bool expected_result[9] = {false, false, true, false, true, true, true, true, true};
 
 	for (int i = 0; i < 9; i++) {
-		EXPECT_EQ(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], test_limit), expected_result[i]);
+		EXPECT_EQ(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], test_limit, spike_limit),
+			  expected_result[i]);
 	}
 
 	// Smaller test limit, all the checks should fail except the first
-	EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations[0], innovations_lpf[0], 0.0));
+	EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations_lpf[0], innovations[0], 0.0, 0.0));
 
 	for (int i = 1; i < 9; i++) {
-		EXPECT_TRUE(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], 0.0));
+		EXPECT_TRUE(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], 0.0, 0.0));
 	}
 
 	// Larger test limit, none of the checks should fail
 	for (int i = 0; i < 9; i++) {
-		EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], 2.0));
+		EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations_lpf[i], innovations[i], 2.0, 4.0));
 	}
 }
 
 TEST_F(PreFlightCheckerTest, testInnov2dFailed)
 {
 	const float test_limit = 1.0;
+	const float spike_limit = 2.0;
 	Vector2f innovations[4] = {{0.0, 0.0}, {0.0, 0.0}, {0.0, -2.5}, {1.5, -1.5}};
 	Vector2f innovations_lpf[4] = {{0.0, 0.0}, {1.1, 0.0}, {0.5, 0.5}, {1.0, -1.0}};
 	const bool expected_result[4] = {false, true, true, true};
 
 	for (int i = 0; i < 4; i++) {
-		EXPECT_EQ(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], test_limit), expected_result[i]);
+		EXPECT_EQ(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], test_limit, spike_limit),
+			  expected_result[i]);
 	}
 
 	// Smaller test limit, all the checks should fail except the first
-	EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[0], innovations_lpf[0], 0.0));
+	EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[0], innovations_lpf[0], 0.0, 0.0));
 
 	for (int i = 1; i < 4; i++) {
-		EXPECT_TRUE(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], 0.0));
+		EXPECT_TRUE(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], 0.0, 0.0));
 	}
 
 	// Larger test limit, none of the checks should fail
 	for (int i = 0; i < 4; i++) {
-		EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], 1.42));
+		EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations_lpf[i], innovations[i], 1.42, 2.84));
 	}
 }