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EKF_init: check for accel bias amplitude

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bresch
2021-07-06 15:28:44 +02:00
committed by Mathieu Bresciani
parent 9f2d1f9e27
commit 057a95a954
1 changed files with 3 additions and 1 deletions
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test/test_EKF_initialization.cpp
+3 -1
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@@ -120,13 +120,15 @@ 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;
}
EXPECT_LT(accel_bias(i), 4.0e-6f) << "axis " << i;
}
}
};