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Test external vision

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This commit is contained in:
kamilritz
2019-12-18 11:42:12 +01:00
committed by Mathieu Bresciani
parent 84dcb32bd8
commit 1b0e137b8a
10 changed files with 388 additions and 10 deletions
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test/sensor_simulator/sensor_simulator.cpp
+5 -1
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@@ -8,7 +8,8 @@ _mag(ekf),
_baro(ekf),
_gps(ekf),
_flow(ekf),
_rng(ekf)
_rng(ekf),
_vio(ekf)
{
setSensorDataToDefault();
setSensorRateToDefault();
@@ -28,6 +29,7 @@ void SensorSimulator::setSensorDataToDefault()
_gps.setRateHz(5);
_flow.setRateHz(50);
_rng.setRateHz(30);
_vio.setRateHz(30);
}
void SensorSimulator::setSensorRateToDefault()
{
@@ -38,6 +40,7 @@ void SensorSimulator::setSensorRateToDefault()
_gps.setData(_gps.getDefaultGpsData());
_flow.setData(_flow.dataAtRest());
_rng.setData(0.2f, 100);
_vio.setData(_vio.dataAtRest());
}
void SensorSimulator::startBasicSensor()
{
@@ -64,6 +67,7 @@ void SensorSimulator::runMicroseconds(uint32_t duration)
_gps.update(_time);
_flow.update(_time);
_rng.update(_time);
_vio.update(_time);
_ekf->update();
}