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ekf2_test: add GPS height to baro fallback

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bresch
2021-10-26 10:05:28 +02:00
committed by Mathieu Bresciani
parent f4c21cedd9
commit 0a140ec59a
1 changed files with 22 additions and 0 deletions
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src/modules/ekf2/test/test_EKF_gps.cpp
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@@ -139,3 +139,25 @@ TEST_F(EkfGpsTest, resetToGpsPosition)
EXPECT_TRUE(isEqual(estimated_position,
previous_position + simulated_position_change, 1e-2f));
}
TEST_F(EkfGpsTest, gpsHgtToBaroFallback)
{
// GIVEN: EKF that fuses GPS and flow, and in GPS height mode
_sensor_simulator._flow.setData(_sensor_simulator._flow.dataAtRest());
_ekf_wrapper.enableFlowFusion();
_sensor_simulator.startFlow();
_ekf_wrapper.setGpsHeight();
_sensor_simulator.runSeconds(1);
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion());
// WHEN: stopping GPS fusion
_sensor_simulator.stopGps();
_sensor_simulator.runSeconds(11);
// THEN: the height source should automatically change to baro
EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
}