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run_seconds

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This commit is contained in:
kamilritz
2019-12-16 13:40:01 +01:00
committed by Mathieu Bresciani
parent 39b369d90b
commit 1832bedd13
9 changed files with 22 additions and 17 deletions
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test/test_EKF_basics.cpp
+7 -8
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@@ -48,13 +48,13 @@ class EkfInitializationTest : public ::testing::Test {
SensorSimulator _sensor_simulator;
// Duration of initalization with only providing baro,mag and IMU
const uint32_t _init_duration_us{2000000}; // 2s
const uint32_t _init_duration_s{2};
// Setup the Ekf with synthetic measurements
void SetUp() override
{
_ekf->init(0);
_sensor_simulator.run(_init_duration_us);
_sensor_simulator.run_seconds(_init_duration_s);
}
// Use this method to clean up any memory, network etc. after each test
@@ -107,9 +107,8 @@ TEST_F(EkfInitializationTest, initialControlMode)
TEST_F(EkfInitializationTest, convergesToZero)
{
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// WHEN: Added more defautl sensor measurements
_sensor_simulator.run(4000000); // for further 4s
// GIVEN: initialized EKF with default IMU, baro and mag input
_sensor_simulator.run_seconds(4);
float converged_pos[3];
float converged_vel[3];
@@ -132,11 +131,11 @@ TEST_F(EkfInitializationTest, convergesToZero)
TEST_F(EkfInitializationTest, gpsFusion)
{
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// GIVEN: initialized EKF with default IMU, baro and mag input for
// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec
_sensor_simulator.startGps();
_sensor_simulator.run(11000000); // for further 3s
_sensor_simulator.run_seconds(11);
// THEN: EKF should fuse GPS, but no other position sensor
filter_control_status_u control_status;
@@ -176,7 +175,7 @@ TEST_F(EkfInitializationTest, accleBiasEstimation)
_sensor_simulator.startGps();
_sensor_simulator.setImuBias(accel_bias, Vector3f{0.0f,0.0f,0.0f});
_sensor_simulator.run(10000000);
_sensor_simulator.run_seconds(10);
float converged_pos[3];
float converged_vel[3];