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Add unit tests and update ekf_helper setEkfGlobalOrigin() method to allow for condition when current position is unitialized.

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This commit is contained in:
mcsauder
2021-02-19 08:59:47 -05:00
committed by Daniel Agar
parent 63f64b57c1
commit 164e53bad3
6 changed files with 210 additions and 128 deletions
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test/sensor_simulator/gps.h
+13 -14
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@@ -51,27 +51,26 @@ public:
~Gps();
void setData(const gps_message& gps);
void stepHeightByMeters(float hgt_change);
void stepHorizontalPositionByMeters(Vector2f hpos_change);
void setPositionRateNED(const Vector3f& rate) { _gps_pos_rate = rate; }
void setAltitude(int32_t alt);
void setLatitude(int32_t lat);
void setLongitude(int32_t lon);
void stepHeightByMeters(const float hgt_change);
void stepHorizontalPositionByMeters(const Vector2f hpos_change);
void setPositionRateNED(const Vector3f& rate);
void setAltitude(const int32_t alt);
void setLatitude(const int32_t lat);
void setLongitude(const int32_t lon);
void setVelocity(const Vector3f& vel);
void setYaw(float yaw);
void setYawOffset(float yaw);
void setFixType(int n);
void setNumberOfSatellites(int n);
void setPdop(float pdop);
void setYaw(const float yaw);
void setYawOffset(const float yaw);
void setFixType(const int fix_type);
void setNumberOfSatellites(const int num_satellites);
void setPdop(const float pdop);
gps_message getDefaultGpsData();
private:
gps_message _gps_data{};
Vector3f _gps_pos_rate{};
void send(uint64_t time) override;
gps_message _gps_data{};
Vector3f _gps_pos_rate{};
};
} // namespace sensor