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revert unnecessary unit-test changes

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This commit is contained in:
Marco Hauswirth 2025-07-15 15:00:01 +02:00
parent 58f63909ca
commit 18bee5e08b
3 changed files with 15 additions and 6 deletions
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2
src/modules/ekf2/test/test_EKF_accelerometer.cpp
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@ -192,11 +192,13 @@ TEST_F(EkfAccelerometerTest, imuFallingDetectionBaroRange)
_sensor_simulator.runSeconds(5);
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
// AND: an accelerometer with a really large Z bias
const float bias = CONSTANTS_ONE_G;
_sensor_simulator._imu.setAccelData(Vector3f(0.f, 0.f, -CONSTANTS_ONE_G + bias));
_sensor_simulator.runSeconds(2);
// THEN: the bad vertical is detected because both sources agree
EXPECT_TRUE(_ekf->fault_status_flags().bad_acc_vertical);
}

2
src/modules/ekf2/test/test_EKF_flow.cpp
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@ -171,7 +171,7 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround)
_ekf_wrapper.enableFlowFusion();
_sensor_simulator.startFlow();
_sensor_simulator.startRangeFinder();
_sensor_simulator.runSeconds(2.0);
_sensor_simulator.runSeconds(1.0);
// THEN: estimated velocity should match simulated velocity
const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());

17
src/modules/ekf2/test/test_EKF_height_fusion.cpp
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@ -103,7 +103,7 @@ TEST_F(EkfHeightFusionTest, baroRef)
_ekf_wrapper.enableGpsHeightFusion();
_ekf_wrapper.enableRangeHeightFusion();
/* _ekf_wrapper.enableExternalVisionHeightFusion(); */ //TODO: this currently sets the reference to EV
_sensor_simulator.runSeconds(10);
_sensor_simulator.runSeconds(1);
EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::BARO);
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
@ -125,6 +125,9 @@ TEST_F(EkfHeightFusionTest, baroRef)
const BiasEstimator::status &gps_status = _ekf->getGpsHgtBiasEstimatorStatus();
EXPECT_NEAR(gps_status.bias, _sensor_simulator._gps.getData().alt - _sensor_simulator._baro.getData(), 0.2f);
const float terrain = _ekf->getTerrainVertPos();
EXPECT_NEAR(terrain, -baro_increment, 1.2f);
const BiasEstimator::status &ev_status = _ekf->getEvHgtBiasEstimatorStatus();
EXPECT_EQ(ev_status.bias, 0.f);
@ -136,6 +139,7 @@ TEST_F(EkfHeightFusionTest, baroRef)
EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::GNSS);
EXPECT_FALSE(_ekf_wrapper.isIntendingBaroHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
// AND WHEN: the gps height increases
const float gps_increment = 1.f;
@ -146,6 +150,9 @@ TEST_F(EkfHeightFusionTest, baroRef)
EXPECT_EQ(gps_status.bias, _ekf->getGpsHgtBiasEstimatorStatus().bias);
// the estimated height follows the GPS height
EXPECT_NEAR(_ekf->getPosition()(2), -(baro_increment + gps_increment), 0.3f);
// and the range finder bias is adjusted to follow the new reference
const float terrain2 = _ekf->getTerrainVertPos();
EXPECT_NEAR(terrain2, -(baro_increment + gps_increment), 1.3f);
}
TEST_F(EkfHeightFusionTest, gpsRef)
@ -167,7 +174,7 @@ TEST_F(EkfHeightFusionTest, gpsRef)
const BiasEstimator::status &baro_status_initial = _ekf->getBaroBiasEstimatorStatus();
const float baro_rel_initial = baro_initial - _sensor_simulator._gps.getData().alt;
EXPECT_NEAR(baro_status_initial.bias, baro_rel_initial, 0.8f);
EXPECT_NEAR(baro_status_initial.bias, baro_rel_initial, 0.6f);
// AND WHEN: the baro data increases
const float baro_increment = 5.f;
@ -208,7 +215,7 @@ TEST_F(EkfHeightFusionTest, gpsRefNoAltFusion)
_ekf_wrapper.enableBaroHeightFusion();
_ekf_wrapper.disableGpsHeightFusion();
_ekf_wrapper.enableRangeHeightFusion();
_sensor_simulator.runSeconds(10);
_sensor_simulator.runSeconds(2);
EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::BARO); // Fallback to baro as GNSS alt is disabled
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
@ -244,7 +251,7 @@ TEST_F(EkfHeightFusionTest, baroRefFailOver)
EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::GNSS);
_sensor_simulator.stopGps();
_sensor_simulator.runSeconds(14);
_sensor_simulator.runSeconds(12);
EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::RANGE);
_sensor_simulator.stopRangeFinder();
@ -401,7 +408,7 @@ TEST_F(EkfHeightFusionTest, changeEkfOriginAlt)
reset_logging_checker.capturePostResetState();
// An origin reset doesn't change the baro bias as it is relative to the height reference (GNSS)
EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_bias_prev, 0.4f);
EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_bias_prev, 0.3f);
EXPECT_NEAR(_ekf->getTerrainVertPos(), alt_increment, 1.f);