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flow: add unit test for yaw motion (#950)

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This commit is contained in:
Mathieu Bresciani
2020-12-25 09:47:14 +01:00
committed by GitHub
parent df7f261e03
commit 18f334f4db
3 changed files with 110 additions and 15 deletions
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test/sensor_simulator/ekf_wrapper.cpp
+5
View File
@@ -95,6 +95,11 @@ bool EkfWrapper::isIntendingFlowFusion() const
return _ekf->control_status_flags().opt_flow;
}
void EkfWrapper::setFlowOffset(const Vector3f &offset)
{
_ekf_params->flow_pos_body = offset;
}
void EkfWrapper::enableExternalVisionPositionFusion()
{
_ekf_params->fusion_mode |= MASK_USE_EVPOS;
test/sensor_simulator/ekf_wrapper.h
+1
View File
@@ -71,6 +71,7 @@ public:
void enableFlowFusion();
void disableFlowFusion();
bool isIntendingFlowFusion() const;
void setFlowOffset(const matrix::Vector3f &offset);
void enableExternalVisionPositionFusion();
void disableExternalVisionPositionFusion();